Time delayed teleoperation system control, A passivity-based method

A control scheme for teleoperation systems with time delay is proposed based on a passivity concept. This control method requires neither the knowledge of the manipulator systems nor the environmental models. Moreover, the approach is applicable for any time delays. This model independence and time delay independence features make the proposed control method well suitable for teleoperation in the physical world. The applications include remote site explorations, telesurgery, space explorations and teleoperation through the Internet. The main contribution of this method is that it is less conservative than the traditional passivity based method. In our method, the passivity controller only operates when the system loses passivity, while in a traditional passivity formulation, the controller works all the time during the operations that may adversely affect the performance of the system