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A Bilateral Compliance Control for Time Delayed Systems

When the bilateral control system has a time delay between the slave system and the control system, the compliance control performance is likely to be deteriorated. This paper proposed a bilateral compliance control scheme and a controller design method for the bilateral control systems with a time delay. The slave controller has a modified type of Smith predictor for the time delay in each input and output stage of an open loop unstable plant. The compliance controller is implemented by a first order low pass filter and it modifies the position of the master to the reference position. The simulation results show that the excellence of the proposed scheme