This study analyzes the performance of reproducibility and operationality in bilateral teleoperation under time delay. Acceleration-based bilateral control (ABC) is a hybrid of position control and force control in orthogonally- crossed two-modal space. This study analyzes the effect of each modal space on reproducibility and operationality. Based on this analysis, this paper proposes a novel four-channel (4ch) ABC design and the most appropriate controller gain values of the position and force controllers for balancing reproducibility and operationality taking the time delay effect into account. The validity of proposed system is demonstrated experimentally.
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