Time delay compensation for force controller in bilateral teleoperation system under time delay

Time delay compensation is very important in the teleoperation field because time delay deteriorates the system performance and stability. Therefore, a lot of research about time delay compensation have been proposed and developed. One of the effective methods, communication disturbance observer (CDOB) has realized the time delay compensation for the position tracking in bilateral teleoperation. Thanks to CDOB, the smooth operation has been achieved. However, the precise force matching has not been achieved yet by any methods. To solve this problem, the time delay compensation method for the force control system has been proposed. This method realizes the precise contact force control under time delay. Therefore, the time delay compensation method is extended to bilateral teleoperation in this paper. In other words, the time delay compensation for the force controller in the bilateral teleoperation system is proposed toward the precise force matching. The validity is confirmed by the experiments.