Transparency-optimized bilateral teleoperation based on acceleration control in the presence of time delay

This paper proposes a novel control architecture for bilateral teleoperation with time delay. The proposed bilateral teleoperation system has transparency under the presence of time delay. The conventional bilateral teleoperation system cannot have transparency under time delay because the control goals are not clear and inappropriate in the presence of time delay. The proposed method utilizes the position information and the force information of both the master and the slave, and also uses the round trip position and force information. In the proposed method, there are two kinds of structure. The one is Position-Force architecture (P-F architecture), and the other is Force-Position architecture (F-P architecture). These methods achieve a high level of transparency but poorer stability than conventional methods. Therefore, this paper introduces the damping injection, which is famous stabilizing method, into the system to stabilize the system, and analyzes the stability condition of the proposed method without/with damping. The effectiveness of the proposed method is validated experimentally.