Preliminary drawing test via predictive energy bounding Algorithm for time-delayed bilateral teleoperation

This paper presents a predictive control approach in order to enhance the force tracking transparency which results comfortability in performing drawing task for the haptic bilateral energy-bounding Algorithm (EBA) teleoperation over communication channels in the presence of constant time delays. The proposed scheme (termed as Predictive EBA) combines the EBA with Smith predictor (SP) architecture which predicts the slave site states on the master site to improve force tracking transparency. If the knowledge about the contact location and slave/environment dynamics is well known, significant improvement in magnitude and phase of feedback force can be obtained. In order to show the effectiveness of proposed scheme a preliminary circle drawing task experimentation is attempted comparing the performance of original EBA with the predictive EBA in the presence of constant time delays.