Study on the pre-estimated algorithm with self-adaption in teleoperation system

In this paper, a method is proposed to reduce the impact of delay time and packet loss, because they have serious effects on serviceability of the remote operation mechanical system. The stability of a nonlinear bilateral teleoperation system with force feedback which has the similar combination of structure is discussed, and the system stability conditions are studied. The self-adaptive algorithm is designed by the relations of sampling time, delay time and the variable procedure of the data transfer in the nonlinear discrete teleoperation system. Through the experiment, this method is confirmed to be able to reduce data error and increase accuracy effectively, while it also assures the stability of the system.