Kinematic Compensation in Port-Hamiltonian Telemanipulation

One of the main drawbacks of passivity based bilateral telemanipulationover delayed communication channels is the presence of a position drift betweenmaster and slave robots during contact tasks; this kinematic mismatch degradesthe interaction feeling perceived by the user. In this paper we consider port-Hamiltonian based telemanipulators and we exploit the interconnection structureof port-Hamiltonian systems to passively compensate the position drift.