Bilateral control of an internet based teleoperation system with force reflection

In this paper, we deal primarily with the architecture of bilateral control with force feedback under uncertain time delays. While stability is guaranteed by the use of coordination mechanism of the event based control method, a new bilateral control model is proposed, in which the position feedback is adopted instead of the direct force feedback. With this model, the model of the operator is excluded from the control loop, which means: (1) There is no need to modeling the complicated human beings in the operation; (2) The system may be more robust and stable because the force control cycle is now confined in a local inner control loop, the force controller acting much faster without the delay from the Internet; (3) The operation result is independent with operators, thus the system may get widely used in an even more broad area. Time delay is key issue to be settled in any Internet based bilateral control systems, and in this architecture, the time delay is converted into a virtual force, which can be applied on the operator together with the real force generated by the interaction between the robot and the environment. Therefore the operator can feel the time delay and make adaptations to his/her operation. Further discussion on the Proving of the related theory and the experiment result of the bilateral control system is provided in this paper.