Bilateral teleoperation systems using genetic algorithms

This paper presents a synchronization scheme of bilateral teleoperation systems with time delay using genetic algorithms. In general, bilateral teleoperation systems have two main goals: stability and transparency. The system can be destabilized by time delay in the communication channel between the master and the slave. Also, transparency can be degraded by time delay. However, it is not easy to determine control gains to achieve these goals. In this work, we use genetic algorithms to choose optimal control gains for synchronization control law. Consequently, position and force tracking problem in free and contact motion is solved in a synchronized manner. Simulation results are presented to verify the effectiveness of proposed methods.