Control of bilateral teleoperation systems using single controller over delayed communication network

The control problem for bilateral teleoperation systems using only one controller is studied in this paper. In the proposed control framework, the remote robot transmits position/velocity signals to the controller located with the local robot. The corresponding control inputs for local and remote robots are obtained from the same controller. The individual control signal is sent to the local robot directly, and transmitted to the remote robot over a network subject to communication delays. Two control algorithms, P-like and PD-like controllers, are considered in the novel bilateral teleoperation system framework. Stability and tracking performance can be guaranteed if control gains are contingent to time delays when the external force are passive or both robots are in free motion. Numerical examples are presented to validate the performance of the proposed bilateral teleoperation control systems.