Passive Bilateral Control of Teleoperators under Constant Time-delay

We propose a novel control scheme for teleoperators consisting ofa pair of multi-degree-of-freedom (DOF) nonlinear robotic systemsunder a constant communication time delay. By passifying thecommunication and control blocks together, the proposed controlscheme guarantees energetic passivity of the closed-loopteleoperator in the presence of parametric uncertainty and aconstant communication delay without relying on widely utilizedscattering or wave formalisms. The proposed control scheme alsoachieves master-slave position coordination and bilateral staticforce reflection. The proposed control scheme is symmetric in thesense that the control and communication laws of the the masterand slave are of the same form. Simulations are performed tovalidate properties of the proposed control scheme.