Alireza Alfi - Ph.D. Candidate Department of Electrical Engineering- Iran university Science and Technology
Mohammad Farrokhi - Associate Professor, Department of Electrical Engineering- Iran university Science and Technology

In this paper a novel structure design to control telerobotic systems, with model uncertainty is presented. The focus in this paper is to achieve the transparency for bilateral telerobotic system in presence of nonlinear dynamics in the telerobotic systems that can be approximated by linear dynamic models with varying parameters, which is named mismatch model. For this reason, two local controllers for bilateral telerobotic system, by using compliance control and direct force-measurement force-reflection control, have been designed. The proposed controllers make the slave manipulator follow the master in spite of the model uncertainty. Simulation results show very promising performance of the controllers.

Telerobotic- Bilateral Teleoperation – Transparency - Time Delay