Task-Space Bilateral Control of Teleoperators with Time-Varying Delay

This paper investigates the task-space bilateral control of teleoperators with both the uncertain kinematics and dynamics and with arbitrary bounded time-varying delay. Using a class of dynamic feedback that involves the estimated task-space velocities, we develop task-space adaptive bilateral controllers for teleoperators without relying on the knowledge of the time-varying delay. We show that the proposed controllers guarantee the task-space position synchronization of the master and slave robots in free motion. In the case that the gravitational torques are compensated a priori, it is shown that the proposed controllers ensure the static force reflection in the sense of certainty equivalence and that the teleoperator is infinitely manipulable with degree one.