Force feedback can increase overall working efficiency in teleoperation systems. Although force feedback has many advantages, teleoperation systems can become unstable when there is a time delay. The key goal of this thesis is to compensate the time delay. We try to extend wave-based control architecture, to find passivity condition for 4-channel architecture, to find transparency condition while maintain the passivity, to verify proposed condition using simulation.
In this thesis, the scattering theory and passivity theory is used to analyze bilateral control system. In wave-based control architecture, if we choose master's characteristic impedance, then chosen the slave's characteristic impedance automatically. And some controller is added in control architecture for extending wave-based control architecture.
This thesis proposes passivity condition for all the types of general 4-channel transparency-optimized bilateral control architecture with time delay. Passivity conditions of 4-channel transparency optimized bilateral control architecture are shown in the equations. And this thesis proposes transparency condition that also maintains the stability of the teleoperation system