On the implementation of time-delay compensators in a bilateral teleoperation system

In this work, it is proposed to consider the existence of factors beyond the time-delay in the communication channel, such as algebraic-loops, hardware and control issues, among others; as a source of disturbances or as causes of task performance degradation in a bilateral teleoperation system. A particular case study is addressed, where the indicated issues appear when moving from a simulation test to experimentation on a real platform. Solutions to some issues are proposed while research directions are drawn for open problems to this regard.