Appropriate controller gain design of acceleration-based bilateral teleoperation under time delay

This paper analyzes the performance of Reproducibility and Operationality in bilateral teleoperation under time delay. Acceleration-based bilateral control(ABC) is hybrid of position control and force control in orthogonally-crossed two modal space. This paper analyzes the effect of each modal space on reproducibility and operationality. Based on analysis, this paper proposes a novel 4ch ABC design and the most appropriate controller gain value of position and force controller for balancing Reproducibility and Operationality in consideration of time delay effect. The validity of proposed system is demonstrated in some experimental results.