Tracking problem in robotic teleoperation systems without force and velocity measurements in the presence of time delay

In this paper, a bilateral teleoperation system in the presence of time-varying time-delay is examined. Force feedback increases system performance as well as transparency, which in turn increases user dominance over the system. However, the force sensor is not always available for various reasons like space constraints, cost and weight. Thus to overcome the problem of lack of Force, the state observer algorithm is used to estimate the speed and external force of the master and slave robots. The estimated signals are used in the four-channel architecture controller design and then the analysis of the tracking of the bilateral Teleoperation system is proved. The simulation results indicate the position and force tracking as well as the transparency of the system.