  This paper presents an analysis of the passivity condition for discrete-time
bilateral teleoperation systems. Considering discrete-time controllers for a
master-slave teleoperation system can simplify its implementation. Varieties of
control schemes have been utilized for the position error based architecture of
bilateral teleoperation systems and major concerns such as passivity and
transparency have been studied. This paper takes into account the passivity
conditions for the discrete counterparts of P-like, PD-like, and PD-like +
dissipation controllers. These conditions impose bounds on the controller
gains, the damping of the master and slave robots, and the sampling time which
help researchers to provide guidelines to have better transparency and passive
teleoperation systems. Simulation results are performed to show the
effectiveness of the proposed criteria.
