Time delayed non-minimum phase slave tele-robotics

Challenges created by non-minimum phase slave robots in time delayed telerobotics systems is the main focus of this paper. This new category of telerobotics systems has many practical applications such as minimally invasive time delayed tele-surgeries. The non-minimum phase (NMP) tele-manipulation creates many challenges especially in presence of communication time delay. In this article, a thorough analysis on the impacts of NMP slaves on the stability and transparency of the time delayed telerobotics is given. Additionally, a control-architecture is proposed for this category of teleoperation. The transparency and stability of the proposed controller are mathematically analyzed. This architecture called the Pseudo Three-Channel (PTC). Experimental results are performed to illustrate the effectiveness of the proposed control structure.