In a traditional teleoperation system, the communication block has the same time delay in both directions between the master and the slave, but the communication time delay varies with direction in a computer network. We propose a control law in discrete time domain of the bilateral feedback teleoperation system using the computer network, and prove the stability of the system with scattering transformation in discrete time domain, for the case where the communication time delay from the master to the slave is different from the time delay from the slave to the mater. We also consider a implementation issue for the case where the sampling rate of the communication block is lower than those of the master and the slave blocks. Finally, we illustrate the validity of the proposed system using an experimental master slave system with one DOF.
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