Tele-virtual Reality Of Dynamic Mechanical Model

In this paper we propose a technique for tele-virtual reality of dynamic mechanical models, which means that one dynamic mechanical model can be shared by peoples in distant places. Since a stabil- ity issue due to time delays arises in the system, we employed a scattering technique developed for a tele- operator system and a kind of passive adaptive con- trollers. Furthermore, restrictions due to a simple digi- tal implementation of the scattering transformation are discussed and some conditions for stability are shown. The proposed method is applied to a remote tug of war system and the effectiveness is verified.