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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)
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)
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)
The paper proposes a general network based analysis and design guidelines for teleoperation systems. The electrical domain is appealing because it enjoys proficient analysis and design tools and allows a one step higher abstraction element, the network. Thus, in order to analyze the system by means of network elements the mechanical system must be first(More)
The time domain passivity framework is attracting interest as a method for granting stability in both telerobotics and haptic contexts; this paper employs this approach in order to introduce a novel concept, the Bilateral Energy Transfer for haptic telepresence. Loosely speaking, the Bilateral Energy Transfer is the straightforward transfer of energy(More)
In an ideal case telepresence achieves a state, where a human operator can no longer dierentiate between an interaction with a real environment or a technical mediated one. This state is called transparent telepresence. The applicability of telepresence to on-orbit servicing (OOS), i.e. an unmanned servicing operation in space, teleoperated from ground in(More)
In this paper a trilateral Multi-Master-Single-Slave-System with control authority allocation between two human operators is proposed. The authority coefficient permits to slide the dominant role between the operators. They can simultaneously execute a task in a collaborative way or a trainee might hapti-cally only observe the task, while an expert is in(More)
Space robots were the topic of this paper. While on earth, nobody would follow such advice; in space, there are few other options than to replace a malfunctioning spacecraft. There are no repair shops and gas stations in the Earth orbit. Because of the lack of so-called on-orbit servicing (OOS) opportunities, some malfunctioning spacecraft continue(More)
This article presents a haptic system for bimanual haptic feedback that is composed of two lightweight robot arms. The system has a workspace and force capabilities similar to that of two human arms. Sophisticated control strategies are implemented to enable using this system as haptic interface. Depending on the requirements of the task one of three(More)
This article presents a method for passivating the communication channel of a symmetric position-position teleoperation architecture on the time domain. The time domain passivity control approach has recently gained appeal in the context of time-delayed teleoperation because passivity is not established as a design constraint, which often forces(More)