Improving the Transparency of Teleoperating System

Firstly, bilateral PID algorithm of time delayed force feedback teleoperating system based absolute stability is introduced. Its influence on the transparency is analysed using impedance theory. On this analysis, two algorithms are put forward to improve system transparency. In the first algorithm, the control force of slave is feedback to master. This algorithm can improve system transparency when slave moves freely. But, when the environment of slave changed, parameters change is required. In the second algorithm, force sensor is used to measure the force between the slave and environment, its result is feedback to master. This algorithm can improved system transparency, either the slave is moved freely or hard contact. Simulation and experiment validated these algorithms.