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Time-domain passivity approach (TDPA) is a way of stable haptic interaction and robot control, such that at any given time the passivity of the system is guaranteed. It is formulated in time-domain, which facilitates its integration in control loop. In this paper we discuss application of this approach to the teleoperation system, model of which assumes admittance mode - with input of effort (force)...
Rate Mode is utilized in many telemanipulation applications where the master workspace is limited compare with the slave workspace. Beside transparent, stability is the main issue of teleoperation systems and time delay communication is the main factor lead to the instability of the system. Many methods have been proposed in order to stabilize the rate mode teleoperation system working under varying...
This paper proposes a new concept of passivation method to increase the dynamic range of impedance that a haptic interface can passively interact. The proposed method is motivated by force vs. position graph, which shows a pressing and releasing path when the haptic interface is interacting with the Virtual Environment (VE). The main reason of the active behavior was on the fact that the releasing...
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