Abstract
In this paper, a time delay compensation control structure for a robot teleoperation system is presented. The structure design was made considering 1.9-seconds time delay in the communication between the remote and local stations. The objective is to control both the remote manipulator's position and force. Force and position signals are fedback to the local station so that the human operator feels in his/her hand the force associated with the task being executed at the remote site. Simulations are carried out considering the dynamic model of the hwnan operator in the control loop. In this sense, simulations show a good perfonnance of the proposed compensation control structure.
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