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Time delay is a serious problem for bilateral teleoperation systems. Even a small time delay in a bilateral teleoperation system will generally degrade the system's performance and cause instability. Wave variable based on passivity and scattering theory method is an important approach that guarantees stability and establishes bilateral teleoperation in the presence of any constant time delay. In this paper, a new control scheme based on wave variables is proposed. This control scheme, is composed of feedback linearization method combined with PD controller to control a nonlinear model. A 2-DOF (degree-of-freedom) bilateral teleoperation system using the new Structure method is simulated using a SIMULINK model in MATLAB environment.