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The problem of communication delay in bilateral or teleoperation systems is even more emphasized with the use of the Internet for communication, which may give rise to loss of transparency and even instability. To address the problem, numerous methods have been proposed. This study is among the few recent studies taking a disturbance observer approach to the problem of time delay, and introduces a...
In this paper, an adaptive control scheme is developed for an n-DOF nonlinear time-variant teleoperation system with large time delays in the communication channels. To make the stability of the overall system be independent of the communication delay, two nonlinear adaptive motion/force controllers are bilaterally designed for both master and slave manipulators. A compliant force feedback loop is...
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