A new adaptive inverse control scheme for teleoperation system with varying time delay

This paper presents a new force-reflecting teleoperation control system scheme with varying time delay. Time delay is an unavoidable factor in teleoperation. Transmission time delays are possibly destabilizing, and reduce significantly ability of teleoperation. Considering the time-varying non-deterministic characteristic of the control and delays, a novel adaptive inverse controller is proposed. Moreover, force feedback is provided to ascertain that the system is robust and transparent. An elaborate and special strategy is presented to design the reference model for adapting the slave-side controller, and accordingly, drift in position tracking has been compensated in free motion status and reduced in hard contact