On extending model based passivity controller to multiple degree-of-freedom teleoperation systems

The model based passivity controller has been proved to be an useful method to deal with the time delay problem in teleoperation systems. However, this method is optimal only when attaching the controller to a single degree of freedom master slave teleoperation system. In the present paper, an extension of the controller to a multi degree of freedom master slave system is presented. By composing an online estimation of remote environment parameters and passivity observer on the master side, the system passivity is maintained by modifying the damping of the master. The performance of the controller was validated using 7 degrees of freedom master-slave robot system with constant time delay.