Stable adaptive time-variable delayed bilateral teleoperation for a surgery robot

In this paper, time variable delay beside uncertainties in dynamic model for bilateral teleoperation system of a surgery is investigated. The proposed control architecture is synthesized by combining extended wave variable and bilateral teleoperation control scheme using defining new variables. Furthermore, an adaptive feedback linearization control scheme is used in local controller to cope with parametric uncertainty. The stability of the system is proven through the passivity analysis. Simulations are carried out to illustrate the robustness and tracking performance of the proposed technique in the presence of variable time delay, uncertainties in model and external disturbances.