A design of four-channel bilateral control system under time delay based on hybrid parameters

This research proposes a stabilizing method of bilateral control system under communication delay. Hybrid parameters of bilateral control are focused in design, then position and force controller are modified to eliminate the time-delay element or at least to remove the adverse effect of the element in some parameters important for stability. The developed system keeps the symmetric property of control structure that realizes the performance of force rendering and stability which are independent of manipulating side. The validity of proposed system will be shown by experiments.