Impedance control based two-channel architecture in time delayed teleoperation system

This paper proposes a two channel control architecture based on impedance transmission in time delayed teleoperation system. In conventional research, bilateral teleoperation is widely researched and bilateral control is used to obtain remote force imformation. However the performance is degraded and destabilized by time delay. Conventional approaches like smith predictor, communication disturbance observer (CDOB), and three-channel architecture improved stability of position control and reduced operational force caused by time delay, yet force control is still not stable. Damping injection can stabilize the force control, but law of action-reaction was not achieved. To achieve teleoperation using force feedback, law of action-reaction should be achieved. From the point of view, experiments are conducted and validity of the proposed method is confirmed.