MultiDoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation When, in addition to passivity, position synchronization is also desired in bilateral teleoperation, Time Domain Passivity Approach (TDPA) alone might not be able to fulfill the desired objective. This is due to an undesired effect caused by admittance type passivity controllers, namely position drift. Previous works focused on developing TDPAbased drift compensation methods to solve this issue. It was shown that, in addition to reducing drift, one of the proposed methods was able to keep the force signals within their normal range, guaranteeing the safety of the task. However, no multiDoF treatment of those approaches has been addressed. In that scope, this paper focuses on providing an extension of previous TDPAbased approaches to multiDoF Cartesianspace teleoperation. An analysis of the convergence properties of the presented method is also provided. In addition, its applicability to multiDoF devices is shown through hardware experiments and numerical simulation with roundtrip time delays up to 700 ms.

Communication Delay Compensation for Precise Force Matching in Teleoperation Teleoperation technology is widely employed in the fields of industry and human support. Bilateral control, which is one of the possible methods to achieve teleoperation, enables mutual transmission of operational force of an operator and reaction force from remote environment. However, teleoperation often involves non negligible communication delays, due to the limits of the communication networks. As a countermeasure against communication delays, bilateral control using a forcecontrolbased communication delay compensation has been proposed. This approach is effective in stabilizing system behavior and in maintaining the force states, so that operatorxe2x80x99s operational force and reaction force from environment can act in pairs and opposite direction, even during contact tasks. In this paper, we introduce a bilateral control that makes use of a forcecontrolbased communication delay compensation, with a new control structure in which structural redundancy of conventional system is removed. The proposed bilateral control system demonstrates through experiments a stable teleoperation and an accurate force matching performance through experiments.