Experimental implementation of bilateral teleoperation with time delay using command governor

This paper considers the implementation of the bilateral teleoperation with time delay using the command governor. The command governor can avoid the constraints violation. However, the command governor is formulated by the quadratic programming, it is hard to solve the problem in the sampling time. In this paper, a algorithm is proposed to decrease the computational cost. In the experiment, the performance of the proposed bilateral teleoperation system is verified using a single-degree of freedom master/slave system.