An allocation method of high pass filter for bilateral teleoperation system over network considering stability and performance

Bilateral control is one of the control methods for teleoperation system. The presence of network delays between a master robot and a slave robot makes the design of the bilateral control system challengeable. This is because network delay seriously deteriorates the performance and could make the system unstable. The authors' previous research proposed a compensator to stabilize the against network delay and a control system to attain reproducibility. However, operationality is remained as a problem. In this paper, to attain almost same performance as the system without time delay, allocations of high pass filter are studied. High pass filter is implemented to remove the undesirable operational force in low frequency area. By allocating high pass filter correctly, operationality is improved while maintaining stability and reproducibility. The validity is confirmed by numerical analysis and experimental results.