A Transparent Bilateral Controller for Teleoperation Considering the Transition of Motion

A two-channel bilateral controller is proposed for teleoperation systems, which takes into account both the free space motion and the constrained motion. Specifically, the force-position (F-P) architecture is applied during the constrained motion, while the position-position (P-P) architecture is applied during the free space motion. Perfect transparency can be achieved in theory. In addition, the controller is robust to model uncertainties and disturbances, and it does not need to switch the control modes of the master and the slave controllers during the transition between the free space motion and the constrained motion. Experiments are conducted to demonstrate the effectiveness of the proposed bilateral controller.