Stable Linear Bilateral Teleoperation SystemEmploying an Impedance Control ViaEstimated External Forces

We proposea newimpedance control algorithmfordelayed linear bilateral teleoperation systems. In thepresented control strategy, with regard to a preferredimpedance model for the master and slave robots, aspecialdynamic featureat the human and the masterrobotalong withthe slaverobotand environment interface isproposed. In addition, external forces signalsincluding operator and remote environmental forcesare used in the controllerto attain desired impedance model.A force estimationschemeispresentedto removemeasurement of external forces. Then, thedesiredimpedance model is locatedintoanappropriatesliding-mode control schemeto compensatetheparametersuncertainties emerged by external force estimation errors. Then, the absolute stability criterionis usedto investigatethe stability of theclosed-loopteleoperationsystemalong withtransparency. Consequently, the control strategyis implemented on 1-DOF robotic systemas the master and slave robots. Simulation results verifythe effectivenessof the presentedimpedance controller by usingestimated external forces.