Abstract: In designing a bilateral teleoperation control system, it is of great important to analyze and evaluate the operation performance of teleoperation. A new performance index for teleoperation system is proposed in this paper based on a frequency domain analysis. The performance of Anderson passive teleoperation system is analyzed by utilizing the new performance index. Hereafter, the relation curve of the system’s transparency and the time delay, together with the relation curve of the tracking performance and the time delay is acquired for a bilateral control system with unilateral time delay. In this way, it is properly explained why the Anderson teleoperation system is only suitable for systems with a time delay of no more than 1 second, and testifies the rationality and the validity of the proposed performance index are demonstrated.

Key words: Bilateral teleoperation, Frequency domain, Transparency, Track ability, Anderson algorithm