Position Coordination of a Linear Teleoperation System with Constant Time Delay

Abstract — A linear time invariant controller design for a bilateral teleoperation of a pair of N-DOF linear robotic systems under constant time delay is presented. This framework uses position and velocity signals together with the force signals to compensate human/environment disturbances and achieve position coordination in both free motion and contact tasks. In this approach, by using Parseval’s identity passivity analysis is done in the frequency domain to render teleoperator passive. In passifying position and velocity feedback terms it is no need to consider the dynamics of the robotic systems as long as they satisfy Euler-Lagrangian dynamic system equation[1]. This fact simplifies the analysis and design routine. However it is shown that when force feedback is applied, gaining advantage of controller and robot dynamics decoupling is no longer available. Simulation is performed to illustrate the proposed algorithm and clarify some points in the design procedure. I