Bilateral teleoperation with communication delays

This paper focuses on the closed-loop stability analysis of a teleoperation control scheme subject to time-delays in the communication channel. The stability conditions derived using a frequency-domain approach are analytical and easy to check. Delay-independent as well as various delay-intervals stability cases are treated. The novelty of the approach lies in its simplicity for characterizing the stability regions in terms of the systems' parameters. Physical interpretations are included, and a simple example is presented. Copyright © 2003 John Wiley and Sons, Ltd