Experimental Comparison of Bilateral Teleoperation Schemes based on the Time Domain Passivity Approach

This paper presents a practical implementation and comparison of state-of-the-art methods to achieve stable wireless telerobotics. The commonly used Time-Domain-Passivity-Approach (TDPA) is implemented in 6 DOF be-tween two robots with significantly different inertias. The performances of two TDPA schemes are compared. The main difference between these schemes is the computation of the energy flow. In a first scheme, the external measured force is considered for the computation, while in the other scheme, the control forces are fed back. We clarify the pros and cons of both schemes in two practical case studies. Thus, the selection of the appropriate scheme can be done based on available hardware and requirements of the specific application.