TIME DOMAIN PASSIVITY BASED BILATERAL CONTROLLER FOR A STABLE TELEOPERATION WITH TIME-DELAY

摘要

PURPOSE: A time domain passivity based bilateral controller for a stable remote control with time-delay is provided to perform remote control through a remote control user by filtering the power component of high frequency. CONSTITUTION: A remote control user inputs a desired operation to a master manipulator. The slave manipulator receives an operating signal from the master manipulator. A two-port network is composed of a first port and a second port. The first port receives master input energy. The second port receives slave input energy. A passivity observer checks the passiveness of two-port network A passivity controller controls the two-port network to discharge the desired amount of energy.