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This paper presents initial results of a set of experiments to compare time-delayed teleoperation performance of selected architectures based on two popular passivity based methods, namely, Wave Variables Transformation (WVT) and Time Domain Passivity Approach (TDPA). Five different architectures widely used and available in literature are selected: 2-channel and 3-channel for both WV and TDPA, and...
The Time Domain Passivity Control Approach is gathering interest in the robotics field. Simplicity and flexibility and the fact that system design emerges from ideal cases make it a powerful stability tool for teleoperation systems. Communication time delay is an inherent attribute of nearly every realistic teleoperation system. Unless the communication channel guarantees transmission delays of less...
Recently, two-port time-domain passivity approach was modified for time-varying communication delay. The newly proposed approach could achieve stable teleoperation even under the serious time-varying delay and packet loss communication condition. However, after some operation hour, the accumulated energy difference between the input energy from one port and the output energy at the other port caused...
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 energy at the master port should be less...
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