A model-based space teleoperation system with robustness against modeling errors

Teleoperation with long time delay causes bilateral control to become unstable. A possible solution to the problem can be found with the help of virtual reality, Forces, reflected from the virtual world, do not depend upon the existing time delay in the system. Unfortunately, virtual reality based systems strongly depend on the accuracy of the model. In this paper we propose a teleoperation system which is robust to modelling errors, including geometric and dynamic ones. The reference force command as generated by using both force and position information simultaneously. The effectiveness of our approach is confirmed by experiments.