The analysis of transparency and its case study in teleoperation systems

In this paper, we investigated transparency in a teleoperation system. As is well known in related fields, transparency is an important index measuring system performance. To start with, we gave new transparency conditions based on calculation of basic dynamics. They are more intuitive, simpler and easier to obtain in comparison with previous work. In detail, we presented case study about whether there is time delay or not and provided respective transparency conditions for both cases. Furthermore, we also analyzed transparency of Anderson´s passive control method. In this way, we can expect to obtain the design basis of a system with superior performance, which is free of risk of instability and the influence of time delay.