A generalized control approach for ideal teleoperation

The master-slave manipulator is capable of extending human dexterous skills to the distant or dangerous environment. In order to maintain its operational efficiency, working conditions at the slave side need to be honestly transferred to the master side. The paper presents a generalized control strategy for the ideal teleoperation of a master-slave manipulator. The proposed control framework fully applies position and force signals at both the master and the slave ends, and can bring about transparent property of ideal teleoperation. Better position tracking performance is demonstrated by teleoperation experiments on a single-link master-slave telemanipulator interacting with environment