BIDIRECTIONAL CONTROLLER FOR ENSURING STABLE REMOTE CONTROL IN TIME DELAY USING TIME DOMAIN PASSIVITY APPROACH, HAPTIC INTERFACE DEVICE AND METHOD, AND REMOTE CONTROL ROBOT SYSTEM

摘要

A bidirectional controller for ensuring a stable remote control in a time delay using a time domain passivity approach of the present invention enables accurate analysis for stability, can specifically add a general framework, and can be utilized for manufacturing various position-force bidirectional controllers. In addition, the bidirectional controller for ensuring the stable remote control in the time delay using the time domain passivity approach according to the present invention can prevent a sudden change of force and enables a user to perform a remote control efficiently by filtering a force element of a high frequency using a virtual passivity system including virtual mass and a virtual spring.