Online Calculation of Time Varying Gain to Stabilize the Bilateral Teleoperation System

Abstract

Bilateral teleoperation has a wide field of applications such as tele-manufacturing, tele-maintenance, tele-sugery, rescue and so on. However, when teleoperation is performed via a time delay communication environment, especially time varying delay, this delay can destabilize a bilaterally controlled teleoperation. In this paper, the stability condition based on small gain theorem for time varying delay teleoperation is presented. Based on the stability condition, the online calculation of time varying gain is proposed for general teleoperation using scattering matrix. Simulation was done to verify the effectiveness of the proposed calculation.