摘要：AbstractThe scattering (wave) based teleoperation is currently one of the most popular approaches to bilateral teleoperation with communication delays. Limitations of the conventional scattering-based teleoperation are mostly related to the underlying passivity requirements imposed on the master-human and slave-environment subsystems. In this paper, a generalized scattering framework for bilateral teleoperation with communication delays is outlined, and basic stability results for generalized scattering-based teleoperator systems with delays are established. The proposed framework removes many limitations of the existing scattering-based teleoperation, and allows for much higher flexibility in the control design for the master and slave subsystems.
