Operation modes and control schemes for telerobot with time delay

Telerobot system plays an important role in executing task under hazard environment. As the computer networks such as the Internet are being used as the communication channel of telerobot systems, varying time delay causes the overall system unstable and reduces the performance of transparency. In this paper, we propose twelve operation modes with different control schemes for telerobot on the Internet with time delay. And an optimal operation mode with control scheme is specified for telerobot with time delay, based on the tradeoff between passivity and transparency properties. We experimentally confirm the validity of the proposed optimal mode and control scheme by using a simple one DOF master-slave manipulator system.