Design of optimal time delayed teleoperator control system

A new method for designing an optimal time-delayed teleoperator control system based on Smith´s principle is presented. First, an optimal delay-free teleoperator control system is designed with the human dynamics of visual and force trackings in the control loop and with the concept of telemonitoring force feedback. Then, an optimal time-delayed teleoperator control system is obtained by applying Smith´s principle to the designed delay-free teleoperator control system and by modifying system parameters to achieve robustness to modeling errors. The proposed method provides an analytic design of a closed loop control structure for conventional teleprogramming facility and of a visual and kinesthetic man-machine interface required for time-delayed teleoperation. Simulation results are shown