A study of bilateral teleoperation with time delay using command governor

This paper considers the bilateral teleoperation with time delay. The stability of the bilateral teleoperation is compensated by the local controllers. However, the constraints violation occurs in the implementation of the real system. In this paper, the command governor is applied to the bilateral teleoperation, which modifies the command to avoid constraint violations. In the simulation, the performance of the proposed bilateral teleoperation system is verified using a single-degree of freedom master/slave system.