Method of position error compensation in consideration of symmetric structure for bilateral control system under time delay

Bilateral control system makes it possible to transmit haptic sensation. When there is time delay between master and slave, position error occurs. This error is undesirable for delicate works. 3-channel bilateral control system can compensate this error, however asymmetric structure is problem. From this reason, operator can manipulate only master. To solve these problems, this paper proposes a compensation method of position error with symmetric structure in bilateral control system under time delay. The validity of the proposed method is verified through experiments.