Passivity-based teleoperation system for robots with parametric uncertainty and communication delay

Teleoperation systems developed in joint-space or task-space without taking into account parameter uncertainties impede the application of such framework on automation and manufacturing system. In this paper, a passivity-based control framework is proposed to accomplish teleoperation in the presence of unknown parameters and communication delays. First, we demonstrate that based on the addressed adaptive laws, the individual closed-loop robotic systems are passive. A passive coordination control is then utilized to ensure the position and velocity tracking between the local and remote robots. The interconnected system is proven to be stable, and experimental results are presented to verify the efficacy of the proposed control algorithms.