Admittance parameterization in linear networked bilateral teleoperation control (Q2663865)

Consider a stand-alone bilateral teleoperation control system with linear stable communication dynamics and LTI master and slave devices detached from external dynamics. For deriving a characterization for all achievable teleoperator behavior, the Youla-Kucera parameterization of nominally stabilizing controllers is taken into account. For given communication constraints, e.g. delay length or sampling rate, all linear nominally stabilizing controllers are characterized, and a parameterization of feasible admittance matrices is provided. As a numerical example, a 1-dof setup, with master and slave devices is presented. Here, available observations are the device displacements, and the actuator forces are the control signals.