Passive Realization of Power scaling of Telemanipulator with Communication Time Delay

This paper proposes an alternative power-scaling algorithm of a controlled telemanipulator with time delay in the transmission line. In the proposed algorithm the motion and force relation, or the power scale, between the master manipulator and the slave manipulator can be specified freely by using two scaling factors. In this system, a communication part of a telemanipulator, which has the time delay, is stabilized based on the scattering transformation. Besides, in the sense of passivity, the scaling algorithm for realizing the power scaling stably is discussed. Although the power scaling had been considered to violate the passivity condition, in the proposed scaling approach, the total stability of the resultant system is guaranteed for an operator and a passive environment with unknown dynamics in view of passivity. The proposed method is experimentally applied to a telemanipulator and the experimental results illustrate the validity of the system.