Transparency in time-delayed systems and the effect of local force feedback for transparent teleoperation

TLDR

The paper investigates transparency in time‑delayed teleoperation and examines how local force feedback can improve stability and performance. It introduces two classes of three‑channel control architectures that achieve perfect transparency under ideal conditions. The authors rigorously analyze the stability robustness of these architectures to delays, derive bounds on force feedforward parameters, and present experimental results that confirm the theoretical predictions.

Abstract

This paper first investigates the issue of transparency in time-delayed teleoperation. It then studies the advantages of employing local force feedback for enhanced stability and performance. In addition, two classes of three-channel control architectures, that are perfectly transparent under ideal conditions are introduced. The stability robustness of the proposed architectures to delays is rigorously analyzed, leading to certain bounds on force feedforward control parameters. Experimental results are included in support of the theoretical work.