Achieving Position Synchronization in Passive Bilateral Teleoperation

When wave-variable-based methods is used in passivity-based bilateral teleoperation, the systems are often subject to a position drift. During carrying out interaction tasks in such master-slave teleoperation systems, the size of this position drift may be prominent notable. In this study, we propose a passivity-based method to patch piece up such position drift problems in delayed master-slave robot system, which arises during carrying out the tele-manipulation tasks. As a result, the operator perception on the force information to the remote environment is improved. Simulations and experiments are carried out on a self-made one degree-of-freedom master-slave platform. Stable trajectory and force-tracking performance are demonstrated.