This paper presents a control methodology that provides transparency and stability robustness in bilateral telemanipulation systems that include a significant time delay in the communication channels. The method utilizes an adaptive Smith predictor to compensate for the time delay, and incorporates a previously published loop shaping approach to design a compensator for transparency and stability robustness of the loop. The method is experimentally demonstrated on a single degree-of-freedom telemanipulation system, and is shown to effectively provide stability and performance robustness.

Issue Section:
Technical Briefs
Keywords:
robust control, telerobotics, delays, delay systems, manipulators, adaptive systems, closed loop systems, stability
Topics:
Delays, Robustness, Stability, Transparency, Manipulators
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 by ASME
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