Experimental verification of bilateral force/position control schemes using the communication network analogy

Investigations in the field of telemanipulation have resulted in effective and theoretically elegant bilateral force/position control algorithms based on the communication network analogy. Nevertheless, implementation of these algorithms can give instability problems mainly due to the time-delay and temporal drift of some variables of the tele-operator. In this paper, the nature of these problems is identified and solutions of implementation problems and compensation of undesired effects are presented