Stable adaptive bilateral control of transparent teleoperation through time-varying delay

Passivity concept has been using as a framework to solve the stability problem in bilateral control of telemanipulation. However, the conservative selection of dissipating element applied to maintain system stability in network communication leads the system to imperfect operation or losing transparency. In this paper, we proposed a new control scheme to adapt characteristic impedance with time. The proposed method is not only presented in simple form, but also effectively make the operation transparent teleoperation. We verified the validity of our method by teleoperation simulations with constant and variable time delay.