Impedance control for force - Reflecting teleoperation with communication delays based on IOS small gain theorem

This paper focuses on a new proposal system input of impedance control that relates to force reflection (FR) scheme of teleoperation with time varying in communication lines. To improve the tracking performance and transparency, the control algorithm uses one more communication channel to transfer the FR information from the master side to the slave side. Using variable damping values, the contact stability is achieved at the time while the slave robot contacts with the environment. In this work, the input-to-output stability (IOS) small gain approach is used to show the overall force-reflecting teleoperation to be input-to-state stable (ISS). Several experimental results show the effectiveness of our proposed algorithm.