Experimental Assessment of Absolute Stability in Bilateral Teleoperation.

Absolute stability analysis of bilateral teleoperation systems are typically model-based. Under borderline conditions of absolute stability, depending on the degree of uncertainty in the dynamic model of the teleoperator and existing noise, the system may behave as potentially unstable when the model-based analysis predicts otherwise. In this article, we propose a methodology to experimentally verify the absolute stability of master-slave teleoperation systems.