Behzad Heydaryan - Intelligence Control Systems Lab - ECE Department Tarbiat Modares University Tehran, Iran
Mohammad T.H Beheshti - Comm. & Cont. Network Lab - ECE Department Tarbiat Modares University Tehran, Iran

This paper proposes an adaptive algorithm inwhich there is an interaction between a Linear Time Invariant(LTI) teleoperation system and a linear environment to achievemaximum transparency of the stable system. The method usesenvironment physical properties to adapt force and positionscaling factors and ensure the stability of the teleoperationsystem. Hence, environment impedance parameters that used incontrol laws are estimated. Time delay, as a basic challenge inteleoperation systems, is considered in stability analysis viaRouth criterion. Finally, taking into account time delays in thefeed-forward and feedback paths, the simulation resultsrepresent the modified tracking of force and position in masterand slave manipulators

teleoperation; online environment estimation; adaptive control; communication delay