Passivity-Short Bilateral Teleoperation with Communication Delays

摘要

The dynamics of an n-link robot is passive from torque to velocity. However, the dynamics of the robot is not passive from torque to position, but is passivity-short. Bilateral teleoperation, that is a negative feedback interconnection of the master and the slave robots, proposed in this paper can be applied to both passive and passivity-short systems. The proposed control is employed through individual compensation for each of the robots. This teleoperation is stable with/without communication delay between the two robots, and it also performs better compared to the existing methods, in terms of minimizing the lag and the synchronization error between position or velocity of the two robots and the reference. The proposed model can be adopted in many applications, instead of the existing approaches, as many systems in practice are passivity-short.