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Stable teleoperation with time-domain passivity control

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3 Author(s)
Jee-Hwan Ryu ; Dept. of Electr. Eng. & Comput. Sci., Korea Adv. Inst. of Sci. & Technol., Taejeon, South Korea ; Dong-Soo Kwon ; Hannaford, B.

A new bilateral control scheme is proposed to ensure stable teleoperation under a wide variety of environments and operating speeds. System stability is analyzed in terms of the time-domain definition of passivity. A previously proposed energy-based method is extended to a 2-port network, and the issues in implementing the "passivity observer" and "passivity controller" to teleoperation systems are studied. The method is tested with our two-degrees-of-freedom master/slave teleoperation system. Stable teleoperation is achieved under conditions such as hard wall contact (stiffness >150 kN/m) and hard surface following.

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Robotics and Automation, IEEE Transactions on  (Volume:20 ,  Issue: 2 )