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This paper proposes a control algorithm of a scaled telemanipulation system with communication time delay. With the proposed algorithm, the motion and force relation between the master manipulator and the slave manipulator can be specified freely by using two scaling factors: a motion scaling factor, and a force scaling factor. The scattering transformation is used to guarantee the passivity of the communication system. The stability of the resultant system is analyzed in view of the passivity and the total stability is guaranteed for an operator and a passive environment with unknown dynamics. The proposed method is experimentally applied to a master slave manipulator and the experimental results illustrate the validity of the system.
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Kosuge et al. (2002) studied this question.