Stability analysis for a teleoperation system with time delay and force feedback

The stability analysis of a two-degree-of freedom teleoperation system, considering the remote station as a non-linear system, is presented. The non-linearity arises in the remote robot's model. Force and position data are backfed from the local to the remote station. The time delay between both stations is fixed and known. A model of the human operator is incorporated into the dynamics of the local station, while a model of the environment is incorporated into the dynamics of the remote station. The analysis, based on operator theory, ensures that system signals remain within a small bounded region. The validity of the theoretical results are verified by simulation.