Synchronized Control for Bilateral Teleoperation with Different Configurations and Communication Delays

This paper addresses the problem of the control of bilateral teleoperation with different configurations and communication delays. We propose a synchronized control law with individual gains and power scaling in the task space. Using this method, the end-effector motion and force relationship between the master and slave robots can be specified freely in the task space and the control gains can be independently selected appropriately for the master and slave robots. The passivity of the whole system is proven by using an energy function. Furthermore, the delay-independent asymptotic stability of the origin of the position and velocity errors is proven by using Lyapunov like stability methods in free space and the proposed control law achieves scaled synchronization of the teleoperation. Several experimental results show the effectiveness of our proposed method.