چكيده لاتين :
In this paper, a new structure for bilateral teleoperation systems with bounded uncertain time delay in communication channel is proposed. The main contributions of the proposed method are two folds: 1) complete transparency for the system and 2) stability robustness. Moreover, due to the proposed structure, stability can be checked graphically using simple classical control methods, such as Bode plot. The key features of this structure are its simple design as well as the ability to analyze the stability of the closed-loop system using the property of the stable scalar functions and the small gain theorem. In the proposed structure, two local controllers will be designed, such that the transparency of the teleoperated system and the local stabilities are guaranteed. One local controller will be designated for position tracking of the slave system and the other one, whilst ensuring the stability of the closed-loop system in presence of uncertain time delay in communication channel, performs the force tracking. Simulation results demonstrate that the proposed control method is highly effective in providing a stable transparent teleoperation system under uncertain, but bounded, time delay in communication channel.
