An application of IMPACT structure to bilateral teleoperations

Time-delays typically cause stability and performance problems in teleoperation systems. As a remedy for such problems in position-error based bilateral teleoperations, a control algorithm is proposed which is derived as a robust modification of a Smith predictor structure for time-delay compensation. The considered modification is based on an application of the Internal Model Principle And Control Together (IMPACT). The resulting algorithm allows rejection of disturbances from a known class, that act at the output of the slave. Linear dynamics are considered for both master and slave manipulators and it is assumed that the time-delay due to communication is constant and known upto a certain degree of accuracy. The algorithm is illustrated in simulations.