On the delayed kinematic correspondence with variable time delays for the control of the bilateral teleoperation of robots

Bilateral teleoperators allow to perform tasks in remote environments. Telepresence and transparency are affected when delays are present. A proposal is made on the most important cases to deal with for the delayed kinematic correspondence in bilateral teleoperation with variable time delays and a control-observer scheme is proposed. Any of the two manipulators can be moved causing a trajectory tracking in the remote robot. Should the latter get in touch with the environment, the operator gets some degree of delayed kinematic correspondence. Only the mild assumptions are made that human/environment forces and their derivatives are bounded. Experiments are provided.