Virtual impedance with position error correction for teleoperator with time delay

In this paper, we first define the ideal responses for a teleoperator system with time delay whose master and slave are assumed to be physically equivalent. To achieve the ideal responses, a new control approach based on the concept of impedance control by use of virtual impedance with position error correction (VIPEC) is proposed. VIPEC can also be used when the master and slave have different sizes. Simulation and experiment of VIPEC for the teleoperator with time delay have been conducted. The results show that the system responses have become closed to the ideal responses