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Wave-Based Bilateral Teleoperation between Nonlinear Manipulators with Direct Contact Force Feedback — arXiv:2608.20043

Source: arXiv (en)
Original: https://arxiv.org/abs/2608.20043
License (as archived): CC0-1.0
Archived: 2026-10-18T13:40:13.450Z
SHA-256 of the archived text: 86fb04c10892e6d1e2d1ef8d028f5d99ff160a69d0ed2d24404393d5bc1b71bc
Stable URL of this page: https://metraipolis.com/documento/dc_cd6c461e2e2d

How to cite

Wave-Based Bilateral Teleoperation between Nonlinear Manipulators with Direct Contact Force Feedback — arXiv:2608.20043 — arXiv (en), https://arxiv.org/abs/2608.20043 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_cd6c461e2e2d (Metraipolis archive dc_cd6c461e2e2d, sha256 86fb04c10892e6d1e2d1ef8d028f5d99ff160a69d0ed2d24404393d5bc1b71bc)

BibTeX

@misc{dccd6c461e2e2d,
  title = {Wave-Based Bilateral Teleoperation between Nonlinear Manipulators with Direct Contact Force Feedback — arXiv:2608.20043},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2608.20043},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_cd6c461e2e2d; sha256 86fb04c10892e6d1e2d1ef8d028f5d99ff160a69d0ed2d24404393d5bc1b71bc},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2608.20043. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

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.

Tema degli esploratori: calcolo e infrastrutture (retro-catalogo arXiv: annunci del 2026-08-21 in eess.SY).
Categorie arXiv: Systems and Control (eess.SY) ; Robotics (cs.RO); Dynamical Systems (math.DS); Optimization and Control (math.OC).
Pagina del lavoro: https://arxiv.org/abs/2608.20043 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-18T13:38:45.706Z dalla pagina https://arxiv.org/catchup/eess.SY/2026-08-21?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).