Transport delay and first order inertia time signal prediction dedicated to teleoperation

Abstract

In the paper a sensor-less control scheme for a bilateral teleoperation system with a force-feedback based on a prediction of an input of a non-linear inverse model by prediction blocks is presented. The prediction method was designed to minimize the effect of the transport delay and the phase shift of sensors, actuators and mechanical objects. The solution is an alternative to complex non-linear models like artificial neural networks, which requires complex stability analysis and control systems with high computing power. Also, in this paper we had compared a transport delay and first order inertia continues approach. The effectiveness of both approaches has been verified on the hydraulic manipulator test stand.