The possibility of operating in remote environments using teleoperation systems has been considered widely in the control literature. This paper presents a review on the discrete-time teleoperation systems, including issues such as stability, passivity and time delays. Using discrete-time methods for a master-slave teleoperation system can simplify control implementation. Varieties of control schemes have been proposed for these systems and major concerns such as passivity, stability and transparency have been studied. Recently, unreliable communication networks affected by packet loss and variable transmission delays have been received much attention. Thus, it is worth considering discrete-time theories for bilateral teleoperation architectures, which are formulated on the same lines as the continuous-time systems. Despite the extensive amount of researches concerning continuous-time teleoperation systems, only a few papers have been published on the analysis and controller design for discrete bilateral forms. This paper takes into account the challenges for the discrete structure of bilateral teleoperation systems and notifies the recent contributions in this area. The effect of sampling time on the stability-transparency trade-off and the task performance is taken into consideration in this review. These studies can help to design guidelines to have better transparency and stable teleoperation systems.
Design and Experimental Validation of Sensorless 4-Channel Bilateral Teleoperation for Low-Cost Manipulators
Degree Programs in Intelligent and Mechanical Interaction Systems, University of Tsukuba（智能与机械交互系统专业，东京大学）；Faculty of Engineering, Information and Systems, University of Tsukuba（工程、信息与系统学部，东京大学）；Department of Electrical Engineering, Electronics, and Applied Physics, Saitama University（电子工程、电子学与应用物理系，埼玉大学）
Composite Adaptive Control for Bilateral Teleoperation Systems without Persistency of Excitation
School of Automation and Electrical Engineering, University of Science and Technology Beijing（自动化与电气工程学院，北京科技大学）；Department of Automatic Control, Lund University, P.O. Box 118, 22100 Lund, Sweden（自动控制系，卢德大学）
Multi-DoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation
Institute of Robotics and Mechatronics of the German Aerospace Center (DLR)（德国航空航天中心（DLR）机器人与机电一体化研究所）；Department of Electrical Engineering, COPPE, Federal University of Rio de Janeiro (UFRJ)（里约热内卢联邦大学（UFRJ）COPPE电气工程系）
