Nonlinear inverse modeling with signal prediction in bilateral teleoperation with force-feedback

Abstract

In the paper a sensor-less control scheme for a bilateral teleoperation system with a force-feedback based on a prediction of an input and an output of a non-linear inverse model by prediction blocks is presented. The prediction method was designed to minimize the effect of the transport delay and the phase shift of sensors, actuators and mechanical objects. The solution is an alternative to complex non-linear models like artificial neural networks which requires complex stability analysis and control systems with high computing power. The effectiveness of the method has been verified on the hydraulic manipulator test stand.