Position-Error Based Schemes for Bilateral Teleoperation With Time Delay: Theory and Experiments

摘要

The problem of stable bilateral teleoperation with position-error based force feedback innthe presence of time-varying possibly unbounded communication delay is addressed. Twonstabilization schemes are proposed that guarantee “independent of delay” stability of thenteleoperator system. In particular, one of the schemes theoretically allows to achieve annarbitrary high force-reflection gain, which leads to better transparency without sacrificingnthe stability of the overall system. The stability analysis is based on the input-tooutputnstable small gain theorem for systems of functional-differential equations. Experimentalnresults are presented, which demonstrate stable behavior of the telerobotic systemnwith time-varying communication delay during contact with a rigid obstacle.