Master-slave teleoperation control using Time Delay Control

A Bridge transported Dual arm Servo-Manipulator (BDSM) was designed to use in a hot-cell at Korea Atomic Energy Research Institute (KAERI). The slave of BDSM can handle a 25 kgf payload object in any posture. The position error resulting from gravity force produces the unnecessary force that the operator does not have to feel. Therefore, gravity force for remote tools or repair equipment must be compensated. Time Delay Control (TDC) is one of the effective and robust control methods when uncertain dynamics or unpredictable disturbances exist. TDC uses past observation of the system´s response which is used to cancel the effect of unknown parameters. TDC is applied for a simple one degree of freedom master-slave system, which can improve the position control performance effectively by compensating for gravity force.