HRI HW5
Bilateral Control of Teleoperators with Time
Delay
ROBERT J. ANDERSON, MEMBER, IEEE, AND MARK W. SPONG, MEMBER, IEEE
Group 4 Avengers
Benjamin Ionescu , Park Jihwan, Kiet, Baek Donghoon
Passivity
What is Passive?
Physical definition:
Ein > Eout
System
Mathematical definition:
Passive
Ein = Eout
Marginally (Lossless)
Ein < Eout
Active
Passive
∞ T
F (t)v(t)dt
0
≥0
↔
“Passive System”
Total energy generated by the system
Stable
6
Scattering Operator
Absolute stability [1] :
6
Stability analysis of the tele-operation system
6
How to design the controller?
6
Thank you