Implementation of a rate mode impedance reflecting teleoperation controller on a haptic simulation system

Transparent teleoperation under rate mode has proven to be difficult in terms of stability, performance and implementation. This is mainly due to the need for exchange of derivatives and integrals of measured positions and forces. This paper proposes and implements a new control architecture designed based on the environment impedance reflecting controller previously developed. The performance of this new controller, implemented on a haptic simulation test-bed, is compared to that of a conventional controller under different operational conditions.