A Comparative Study on Force Reflection Methods in Time-delayed Bilateral Rate-mode Teleoperation

Abstract

This paper presents a comparative study on three different force reflection methods in the time-delayed rate-mode bilateral teleoperation of remote vehicles. The first force reflection method is to directly apply an external collision force to a remote vehicle. In the second and third force reflection methods, the reflected force is calculated in proportional to the velocity errors between commanded and actual velocities of a remote vehicle in the master site and the slave site, respectively. For the stable teleoperation, the energy-bounding algorithm is applied to three methods due to instability when time delays exist in bilateral teleoperation. Three different force feedback methods are compared through experiments in the existence of time delays.