Realization of simultaneity in bilateral teleoperation system under time delay

Bilateral teleoperation is a research area that have been studied for years. Bilateral control system realizes bilateral teleoperation with force sensation feedback to the operator. However, when two systems are placed far from each other, time delay is included inside the control system. The time delay impedes the momentary realization of control goals, consequently destabilizing the whole control system and degrading the force sensation. Therefore this paper proposes a control system that realizes position synchronization in bilateral control under communication delay. One of the control goal is realized regardless of the time delay by using the proposed method. The phase lag compensator is used for stabilizing the control system. The physical meaning of the phase compensator is disclosed in the paper. Experiments were conducted to verify the validity of the proposed method.