Analysis and compensation of modeling error for synchronized bilateral teleoperation

Bilateral teleoperation realizes tactile sensation transmission between distant places by realizing two control goals, which are synchronization of position response and the realization of the law of action and reaction. However, a communication delay between the systems deteriorates control performance of the whole system. Bilateral teleoperation that achieves simultaneity property, which is one of the control goals in bilateral control, was proposed by the authors. The system realizes to independently control position and force responses, which was not achieved in the conventional methods, by using a model of a delay time to buffer the force information. However, it is well known that delay time varies in network systems. Therefore, in this paper, control performance of the system in front of modeling error is analyzed and the effect caused by the error is compensated by using a phase-lead compensator. The compensation controller is designed to have enough phase margin and better position tracking performance. The validity of the proposed method is confirmed through experiments.