A two-layer architecture-based teleoperation method for space robots under fixed time delay

Abstract In space teleoperation systems, the dynamics of controlled robots exhibit uncertainties, and communication involves time delays. To address these challenges, this paper proposes a bilateral controller based on a two-layer architecture: the master side employs a radial basis function (RBF) neural network-based sliding mode control, while the slave side uses a model-compensated PD control. The study investigates the teleoperation of a two-degree-of-freedom space robot under fixed time delay conditions. Independent communication channels connect each layer of the master and slave sides, allowing the separation of energy exchange information and control action information. The effectiveness of the proposed teleoperation control system is verified through simulations.