Implementation of Time Domain Passivity Approach on Rate-Mode bilateral teleoperation

摘要

Rate Mode is utilized in many telemanipulation applications where the master workspace is limited compare with the slave workspace. Beside transparent, stability is the main issue of teleoperation systems and time delay communication is the main factor lead to the instability of the system. Many methods have been proposed in order to stabilize the rate mode teleoperation system working under varying time delay and data - cropped telecommunication environments. In this paper, Time Domain Passivity Approached and recently proposed energy based framework are implemented to stabilize the teleoperation system under variable time delay communication. Experiments have also been done and showed that the proposed method helps operators to control the speed of slave robot much easier and smoother without any unstable behaviour.