Asymptotic stability for force reflecting teleoperators with time delays

The authors validate their previously published (1988) algorithm for controlling a force-reflecting teleoperator with time delay. The time-delay compensation is shown to result in a control law which ensures asymptotic stability of manipulator velocities when contacting arbitrary passive environments. The results are based on the full n-DOF (degrees of freedom) nonlinear system and allow for the inclusion of power gain between the human operator and the environment.<
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