Bilateral Control to Achieve Transparent Teleoperation with Perturbation of Static Time Delay

This paper presents a novel structure design for bilateral teleoperation control systems with some perturbations in time delay in communication channel. Transparency is used as an index to evaluate the performance of the teleoperation system. The focus of this paper is to achieve transparency for bilateral teleoperation system in presence of variations in time delay in communication channels as well as stability. To achieve transparency in the proposed structure, two controllers are used for bilateral teleoperation. The controllers force the slave manipulator to follow the master in spite of small variable time delays in communication channel. An adaptive FIR filter estimates the time delay. Furthermore, the stability of the closed-loop system despite estimator error in adaptive filter was proved. The advantages of the proposed method are simple design and flexibility of the control method. Simulation results show very good and promising results despite small and varying time delay. Moreover, the proposed method provides a technique for predicting the time delay in order to avoid system instability