Time Constant and Model-Free Signal Prediction in Communication Channel of Teleoperation System

In the paper a sensor-less control scheme for a bilateral teleoperation system with a force-feedback based on a model-free prediction in the communication channel by prediction blocks was presented. The prediction block was designed to minimize the effect of the transport delay in the communication channel of bilateral teleoperation system. The single prediction block has been a phase shifter with a specific behavior. The specific behavior of the prediction block is a strongly linear phase diagram in a useful frequency spectrum which allows the system to predict the manipulator motion and the force with a close to constant time shift. Another important feature is a gain of the block which is close to a unity when system operates in the useful frequency spectrum. The solution is an alternative to complex and mostly non-linear methods presented in the literature. The effectiveness of the method has been verified on the hydraulic manipulator test stand under control of many operators.