Stability and Transparency for Scaled Teleoperation System

In this paper, a bilateral controller for a microteleoperation system is presented using passivity approaches. We showed that the application of wave variable formalism allows the passivity of the system in spite of the communication delays between the master and the slave and the varying scaling factors. Conditions of the passivity and of the transparency are given for the micro teleoperation system. Finally, experimental results are presented showing the stability-transparency performances of the resulting system with constant and variable time-delay