The authors validate their previously published (1988) algorithm for controlling a force-reflecting teleoperator with time delay. The time-delay compensation is shown to result in a control law which ensures asymptotic stability of manipulator velocities when contacting arbitrary passive environments. The results are based on the full n-DOF (degrees of freedom) nonlinear system and allow for the inclusion of power gain between the human operator and the environment.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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Anderson et al. (2003) studied this question.
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