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In this paper, a passive bilateral control scheme is proposed for a teleoperator with time-varying communication delay. Recently proposed two-port time-domain passivity approach (TDPA), which composed of Passivity Observer (PO) and Passivity Controller (PC), is extended. A set of sufficient conditions is derived, which satisfies the passivity of the(More)
— A recently proposed method for stabilizing haptic interfaces and teleoperation systems was tested with a " PHANToM " commercial haptic device. The " Passivity Observer " (PO) and " Passivity Controller " (PC) stabilization method was applied to stabilize the system but also excited a high frequency mode in the device. To solve this problem, we propose a(More)
In this paper, modified two-port time-domain passivity approach is proposed for stable bilateral control of teleoperators under time-varying communication delay. We separate input and output energy at each port of a bilateral controller, and propose a sufficient condition for satisfying the passivity of the bilateral controller including time-delay. Output(More)
The influence of viscous damping and delay on the stability of haptic systems is studied in this paper. The stability boundaries have been found by means of different approaches. Although the shape of these stability boundaries is quite complex, a new linear condition which summarizes the relation between virtual stiffness, viscous damping and delay is(More)
Among the methods to grant the stability of a telemanipulation system , the bilateral time domain passivity framework has the appealing characteristic to consider both the forces and velocities signal exchanged between the master and slave systems, and the power introduced or dissipated by the elements that compose the whole telemanipulation system. In(More)
Despite a lot of research in recent years stable and realistic haptic interaction with virtual environments keeps an unsolved problem. Among different approaches the Voxmap-PointShell TM (VPS) method seems very promising due to constant sample rates, independent of the static environment. But there is still the stability problem to be solved globally. In(More)
This article accompanies a video that presents a bimanual haptic device composed of two DLR/KUKA Light-Weight Robot (LWR) arms. The LWRs have similar dimensions to human arms, and can be operated in torque and position control mode at an update rate of 1 kHz. The two robots are mounted behind the user, such that the intersecting workspace of the robots and(More)