Passivity of delayed bilateral teleoperation of mobile robots with ambiguous causalities: Time Domain Passivity Approach

Rate mode commanding together with obstacle based force feedback makes mobile robot teleoperation difficult to stabilize even without time-delay. This paper proposes a method for stable time-delayed teleoperation of a mobile robot. Rate mode teleoperation with three different types of force feedback is considered to develop generally applicable method. We reformulate mobile robot bilateral teleoperation architecture based on recently proposed Time Delayed Power Network framework. It allows clarifying ambiguous energy ports and makes it possible to implement Time Domain Passivity Approach in order to secure the system stability. Experimental results show the effectiveness of the proposed formulation for a mobile robot teleoperation with time-delay.