Bilateral control with local force feedback for delay-free teleoperation

Bilateral teleoperation system through network is negatively affected to stability by communication delay. In this paper, bilateral teleoperation system is researched toward a delay free bilateral teleoperation. By using 2ch bilateral control which is transmitting and controlling only positions, the stability of bilateral teleoperation system is enhanced. However, the bilateral teleoperation controlling only position increases force needed to operate master system. So, the operationality comes down, and teleoperation becomes difficult. Therefore, in order to enhance the operationality, local force feedback loop is added, and external force is controlled to 0. So, the proposed method enhances the stability while keeping good operationality. As a result, it turns out that the bilateral control system can enhance the performance of communication delay by reducing connectability of master and slave.