Robust Bilateral Teleoperation with Varying Time Delay

In this paper a novel structure design to control teleoperation systems, with variable communication time delay is presented. Transparency is used as an index to evaluate the performance of the closed-loop system. The focus in this paper is to achieve the transparency for bilateral teleoperation in presence of variable time delay in communication channel. For this reason, two local controllers for bilateral teleoperation systems, by using compliance control and direct force-measurement force-reflection control, have been designed. The proposed controllers make the slave manipulator follow the master in spite of the variable time delay in communication channel. The advantage of the proposed method is that one can use the classical or advanced control methods together or alone for designing local controllers. Simulation results show very promising performance of the controllers.

Keywords:

Bilateral Teleoperation , Time delay , Transparency