Position coordination of a linear teleoperation system with constant time delay

In this paper we present a linear time invariant controller for bilateral teleoperation of a pair of N-DOF linear robotic systems under constant time delay. Our framework uses position and velocity signals to achieve position tracking in free motion. It also uses force feedback for compensating the human/environment disturbances to achieve position coordination in contact tasks. In passifying position and velocity feedback terms, for simplicity reasons there is no need to consider the dynamics of the robotic systems as long as they satisfy Euler-Lagrangian dynamic system equation. However when the force feedback is applied, we have to consider the dynamics of the robot in controller design. We do passivity analysis in the frequency domain by using Parseval´s identity. Simulation has been performed to illustrate the proposed algorithm and to clarify some points in the design procedure.