Large Time Delay Teleoperation Contact Jobs Bilateral Control Technology

Due to its great potential value in applications and theory, bilateral tele-robotic systems have been a focus in the literature. From early control of ground to device in the space, to using in Internet, tele-robotic system's application field has been widen so much, and because of the complexity of time-delay and environment ,which also bring new and more challenge to the design of control system.Based on the basic study in arithmetic, we discussed the influence of control system's stability and transparence brought by time-delay and environment, also bring forward some control structures and rules. The conclusion was drawn in the circumstance of invariable time-delay.Stability is essence command of the control system. There are many methods in keeping the stability of teleoperation system, and it were we tried to do that find some better methods to enhance the performance through studying dissipation theory, absolute stability and Lyapunov theory .We transform the model of mechanism system into electricity system for their equivalent. An index function to evaluate the performance of teleoperation system is presented by using impedance technology , in this way, we can discuss the mechanism system using electrical method and we get the estimate criterion of performance when keeping the stability of system.At last we put forward the control frame of identifying impedance on-line for the uncertain environment and PID is used to control position of both ports. The design technique is demonstrated in a single degree-of-freedom numerical example.