PROJECT TITLE :

Time Domain Passivity Controller for 4-Channel Time-Delay Bilateral Teleoperation

ABSTRACT:

This paper presents an extension of the time-domain passivity management approach to a four-channel bilateral controller beneath the results of time delays. Time-domain passivity management has been used successfully to stabilize teleoperation systems with position-force and position-position controllers; but, the performance with such control architectures is sub-optimal both with and without time delays. This work extends the network representation of the time-domain passivity controller to the four-channel architecture, that provides perfect transparency to the user while not time delay. The proposed design relies on modelling the controllers as dependent voltage sources and using only series passivity controllers. The obtained results are shown on a 1 degree-of-freedom setup and illustrate the stabilization behaviour of the proposed controller when time delay is present in the communication channel.


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