• rtdpa
• tdpa
• teleoperation

The proper functioning of the teleoperation systems is based on guaranteeing stability and transparency. In architectures with redundant manipulators the TDPA strategy can be extended to rTDPA where the null space of the manipulator is exploited to dissipate energy, in order to ensure stability without affecting the end effector motion.
However, rTDPA still has some issues to be fixed. In particular, the limitation to the passivity controller imposed form the physical joint limits, because of its definition, is respected only by norm, not for each component.
Moreover, the best direction for the dissipation vector, is an open field of study. Actually, it's responsible of the manipulator motion in the null space and, if chosen not wisely, it could bring the system in configuration not comfortable for further null space dissipation.
The aim of this thesis is to go deep in this critical issues.
For what concern the first one, the solution provide a weight matrix that direct the dissipation vector in the same direction of the projection of the joint limits along the null space. This vector represents the maximum dissipation.
Also for the second issue we look for a weight matrix that gives an orientation for the dissipation vector. In this case the choose is based on the maximization of the new null space quality index. This index is defined analogously to the manipulability index, but using the null space projector.
The experimental setup used to verify the efficacy of the found solutions is made by two 7 DOFs Franka-Emika Panda, one as Leader and the other one as Follower.