When, in addition to stability, 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 TDPA-based 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 multi-DoF treatment of those
approaches has been addressed. In that scope, this paper focuses on providing
an extension of previous TDPA-based approaches to multi-DoF Cartesian-space
teleoperation. An analysis of the convergence properties of the presented
method is also provided. In addition, its applicability to multi-DoF devices is
shown through hardware experiments and numerical simulation with round-trip
time delays up to 700 ms.Comment: 2019 19th International Conference on Advanced Robotics (ICAR