An application of IMPACT structure to bilateral teleoperations

Time-delays typically cause stability and performanceproblems in teleoperation systems. As a remedy forsuch problems in position-error based bilateralteleoperations, a control algorithm is proposed which isderived as a robust modification of a Smith predictorstructure for time delay compensation. The consideredmodification is based on an application of the InternalModel Principle And Control Together (IMPACT). Theresulting algorithm allows rejection of disturbances from aknown class, that act at the output of the slave. Lineardynamics are considered for both master and slavemanipulators and it is assumed that the time-delay dueto communication is constant and known upto a certaindegree of accuracy. The algorithm is illustrated insimulations