Stable haptic interaction with admittance type virtual environments based on time-domain passivity approach

Time-domain passivity approach (TDPA) is a way of stable haptic interaction and robot control, such that at any given time the passivity of the system is guaranteed. It is formulated in time-domain, which facilitates its integration in control loop. In this paper we discuss application of this approach to the teleoperation system, model of which assumes admittance mode - with input of effort (force) and output of flow (velocity).