Synchronization of bilateral teleoperators with time delay

  title={Synchronization of bilateral teleoperators with time delay},
  author={Nikhil Chopra and Mark W. Spong and Rogelio Lozano},
Bilateral teleoperators, designed within the passivity framework using concepts of scattering and two-port network theory, provide robust stability against constant delay in the network and velocity tracking, but cannot guarantee position tracking in general. In this paper we fundamentally extend the passivity-based architecture to guarantee state synchronization of master/slave robots in free motion independent of the constant delay and without using the scattering transformation. We propose a… CONTINUE READING
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