• rtdpa
• tdpa
• teleoperation
• passivity
• control
• robotics

This thesis proposes a new approach for a passivity observer of a bilateral tele-
operation system based on the TDPA technique. The proposed solution aims to
definitively solve both the problem of energy reset heuristics due to energy-tank ef-
fect, poor responsiveness of the passivity observer and amplified dissipation actions.
Assuming a loss-less communication channel that may behave actively, an innovative
power-based passivity observer is defined.
In addition to this, the present work shows a first real implementation of the
new rTDPA technique, an evolution of the TDPA architecture that exploits the
redundancy of the devices to dissipate limiting the effects on the task space. More-
over, an improvement has been proposed on the formulation of the closed-form joint
limitation that overcomes some problems present in its previous version.
A position-force architecture on a real teleoperation system has been set up in
order to test and validate the proposed solutions of this thesis work.