Vibration suppression design for virtual compliance control in bilateral teleoperation

Disturbance rejection is an important technique in bilateral teleoperation that can ensure the stability of the system from unwanted inputs. One of the major disturbance for the system is the external vibration from both sides. This paper aims to apply the concept of one degree-of-freedom inertia-spring-damper system for vibration suppression in the bilateral control system. For vibration control, the system compliance for different input frequency is controlled by the value of virtual elements which is designed based on the cut-off frequencies and stiffness of the virtual spring. The performance of the proposed bilateral control system with different virtual parameters is verified through simulation.