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This paper presents a new control approach with prediction to minimize the effects of time delays while ensuring stability and system performance. Two predictors at the slave and master sides are constructed assuming that the time delays in both transmission channels are measurable. Simulation and experimental results are compared with the scheme without prediction to show the effectiveness of this...
Nowadays, teleoperation has a wide variety of applications. For example in a bilateral teleoperation system, a human can control a robot or a system which is far away from each other. One of the major problems faced in a bilateral teleoperation system is the time delay due to the transmission of data between the master and the slave sides. If the controller is not properly designed, the delay degrades...
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