Bilateral control of master-slave manipulators with constant time delay

► The passivity based architecture of [Lee DJ, Spong MW. Passive bilateral teleoperation with constant time-delay. IEEE Trans Rob 2006] is extended to improve position tracking. ► The proposed PID controller can overcome some limitations of the PD controller. ► We have shown that the new controller preserved the passivity of the whole system. ► Simulation and experimental results show the effectiveness of the proposed controller.