Performance testing of passive communication and control in teleoperation with time delay

Advanced application of remote manipulation or teleoperation requires kinesthetic feedback of force and torque information from slave robot to master hand controller. In outer space and terrestrial remote control, there is an unavoidable time delay between master and slave. The performance of several candidate control laws for a single-axis testbed telemanipulation system in the presence of up to 1 s of time delay is evaluated. Algorithms tested include communication laws based on passivity theory. Results indicate that task completion time is as much as 50% greater with passivity based methods