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This paper presents an analysis of the passivity condition for discrete-timebilateral teleoperation systems. Considering discrete-time controllers for amaster-slave teleoperation system can simplify its implementation. Varieties ofcontrol schemes have been utilized for the position error based architecture ofbilateral teleoperation systems and major concerns such as passivity andtransparency have been studied. This paper takes into account the passivityconditions for the discrete counterparts of P-like, PD-like, and PD-like +dissipation controllers. These conditions impose bounds on the controllergains, the damping of the master and slave robots, and the sampling time whichhelp researchers to provide guidelines to have better transparency and passiveteleoperation systems. Simulation results are performed to show theeffectiveness of the proposed criteria.

Passivity Analysis of Discrete-time Counterparts of the Bilateral Controlled Teleoperation Systems