Optimizing Bilateral Teleoperation Control Architectures: A Comparative Study Under Constant and Variable Time Delays

Abstract

In this paper, we optimize the set of controllers and parameters in two bilateral teleoperation control schemes: the classic four-channel architecture and the improved wave-transform based delayed bilateral teleoperation architecture, by tuning them using Simulink's Response Optimization tool using the Matlab Optimization toolbox. In both architectures, the master and slave devices are identical 1-dof robots represented by their impedance model. We propose a comparative analysis between the performance of each of the architectures in terms of transparency and stability, in presence of constant and variable time delays. By conducting this comparative study, we hope to contribute to the development of more efficient, robust and user-friendly teleoperation systems, ultimately advancing the state of the art in this field.