Control of telerobotic systems with variable operator, variable environment and flexible slave

In telerobotic systems the goal is to project human abilities from master side to the environment. One of the most important human skills is the capability of acting with different impedances at various situations proportional to the task. In this paper we focused on problems of variable environment or operator´s hand impedances that persuaded us to utilize time domain stability analysis, and it could cause unbounded environment force and then, instability.