Bilateral Telerobotics in Presence of Time-Varying Delays and Packet-Loss

Abstract

In force reflecting teleoperation systems, Master and Slave mechanisms are connected through a communication mean to exchange information. Different communication mediums have been used for different teleoperation applications so far, ranging from stiff mechanical bars to the Internet. Most of the communication mediums introduce latencies in the exchange line. So the Master-Slave systems are feedback control systems where the loop is closed over the time delay. Constant time delay transforms a finite dimensional system to infinite dimensional system, sensitive to the gains of the control loop with small stability margins and unsafe for interaction with unknown environments. ...