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A bilateral teleoperation system comprises a human operator, a teleoperator, and an environment. Without exact models for the teleoperator׳s terminations (i.e., human operator and the environment), it is typically assumed that they are passive but otherwise arbitrary. Based on this assumption, the stability of the teleoperation system is investigated through Llewellyn׳s absolute stability criterion...
In this paper, we analyze the stability robustness of teleoperation systems, coupled to operators and environments with finite range of dynamic variations. A new graphical extension of the scattering-based absolute stability method [5] is proposed, which incorporates minimum inherent damping of the operator as well as bounds on the environment impedance. The proposed method provides both mathematical...
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