Bilateral control of master-slave manipulators with constant time delay

This paper proposed a novel frame work for bilateral teleoperation systems with a multi-degree-of-freedom (DOF) nonlinear robotic system in master and slave side with constant time delay in communication channel. We actually extend the passivity based architecture upon the earlier work of [6] to improve position tracking and consequently transparency in the face of environmental contacts. The proposed controller employs a PID controller in each side to overcome some limitation of PD controller and guarantee good performance. Besides, we show that this new PID controller preserve the control passivity of the system. Simulation and experimental results show that PID controller tracking performance is better than PD controller tracking performance in slave/ environment contacts.