The presence of time delays in communication introduces a limitation to the stability of bilateral teleoperation systems. This paper\nconsiders internal model control (IMC) design of linear teleoperation system with time delays, and the stability of the closed-loop\nsystem is analyzed. It is shown that the stability is guaranteed delay-independently. The passivity assumption for external forces\nis removed for the proposed design of teleoperation systems. The behavior of the resulting teleoperation system is illustrated by\nsimulations.
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