Impedance controller design of Internet-based teleoperation using absolute stability concept

Relationships between impedance parameters and scaling factors are derived using absolute stability and passivity. For this, the teleoperation system is represented as a two-port model with a. hybrid matrix. Design procedure of the impedance parameters for the absolute stability of the teleoperator under the time delay is proposed. The validity of the proposed control scheme is demonstrated by experiments with a 1-dof master/slave system connected through the Internet.