Wave-Based Bilateral Teleoperation between Nonlinear Manipulators with Direct Contact Force Feedback

Abstract:We study bilateral teleoperation between nonlinear, multi-DOF robotic manipulators in the presence of constant communication delays. Unlike classical wave-transformation architectures that transmit a coordinating force, we consider the case where the environmental force is reflected to the master side to enhance teleoperation transparency. Since direct contact force feedback might destabilize the closed-loop system, we first develop a passivity-shortage characterization for the Euler--Lagrange remote system using a linear matrix inequality (LMI) approach. An upper strictly passive communication law is then employed to compensate for the computed passivity shortage so that the closed-loop stability under delays as well as position and force synchronization are preserved under appropriate conditions. Simulations with nonlinear 2-DOF robotic manipulators in different settings illustrate our approach.

65th IEEE Conference on Decision and Control (CDC), Honolulu, HI, USA, Dec. 2026

Systems and Control (eess.SY); Robotics (cs.RO); Dynamical Systems (math.DS); Optimization and Control (math.OC)

arXiv:2608.20043 [eess.SY]

(or arXiv:2608.20043v1 [eess.SY] for this version)

https://doi.org/10.48550/arXiv.2608.20043 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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