Decoupling control based on virtual mechanisms for telemanipulation

Tuning a telemanipulation system is still a real challenge. The task model is often unknown, the system must remain stable for a wide range of tasks, configurations, for different modes which share in a different way all the system degrees of freedom. Thinking of numerous controllers which come up with all these different situations is quite unrealistic. In fact, a compromise between the number of control parameters and the system performances has to be found. Here, we propose a method for the design of a decoupling controller allowing different tunings along teleoperated DOF and locally controlled ones