Bilateral control by state convergence based on transparency for systems with time delay

This paper proposes a new methodology for designing master and slave controllers based on state convergence that aims to reach the most transparency considering communication time delay. This method shows a modified scheme of the state convergence algorithm that feeds back the state of the slave to the master controller. All this information (position, velocity and torque) is processed in order to implement the desired master behavior that has to guarantee the stability of the system and the best remote impedance reflection as possible. This paper shows some experiments that prove the performance of this methodology for a second order-modeled system with 3 degrees of freedom. Moreover, this methodology can also be applied in higher order systems of teleoperation models.

► New methodology for designing master and slave controllers based on state convergence. ► The control system reaches the most transparency considering communication time delay. ► Experiment results are shown to prove the performance of this methodology for a telerobotic system with 3 degrees of freedom.