Stability of Quantized and Delayed Bilateral Teleoperators

In this paper we address the issue of quantization in delayed bilateral teleoperators via input-to-state stability concepts and the small-gain theorem. An ultimate bound is established on the tracking error between the master and slave positions and the final velocities, based on the available resolution for quantization and magnitudes of external forces acting on both robots. A characterization of possible environments that would provide such bounded external forces is given