This paper describes a teleoperation technique for time-delayed bilateral teleoperator control by using 3D graphic simulator. The introduction of time delays into a bilateral control system poses a number of problems related to control stability. Thus the operators confronted with time delay have a tendency to move a small distance and then wait to see what happened, which make much less efficient the teleoperation than without time delay.
In this thesis, we propose an enhanced teleoperation technique for which time delay problem can be compensated based on 3D model of workspace and 3D graphic simulator that can provide immediate visual information for the operator. A simple experiment is performed with proposed method by using a very simple tapping task. The result indicate that non time-delayed visual information of workspace provided by 3D graphic simulator and 3D model of workspace enhances the human operator's telemanipulation task performance significantly when there is a long time delay.
