  Absolute stability of discrete-time teleoperation systems can be jeopardized
by choosing inappropriate sampling time architecture. A modified structure is
presented for the bilateral teleoperation system including continuous-time
slave robot, master robot, human operator, and the environment with
sampled-data PD-like + dissipation controllers which make the system absolute
stable in the presence of the time delay and sampling rates in the
communication network. The output position and force signals are quantized with
uniform sampling periods. Input-delay approach is used in this paper to convert
the sampled-data system to a continuous-time counterpart. The main contribution
of this paper is calculating a lower bound on the maximum sampling period as a
stability condition. Also, the presented method imposes upper bounds on the
damping of robots and notifies the sampling time importance on the transparency
and stability of the system. Both simulation and experimental results are
performed to show the validity of the proposed conditions and verify the
effectiveness of the sampling scheme.
