Analysis and design of haptic telerobotic system

A control scheme is derived for a `master slave´ telerobotic dynamic system with haptic behaviour. The telerobotic system consists of a `master´ robot, operated by a human arm, and a kinematically identical `slave´ robot, located at a remote site. When the operator moves the handler of the `master´ back and forth, the remote `slave´ mimics the motion in a constrained or unconstrained environment. The disturbance and reaction forces from the environment and the loads are fed back to the handler of the `master´ and felt by the operator. Thus, the operator gets a feel of what is out there without being there. The advantage of the presented control scheme is the integration of the dynamics of the operator arm, actuators, and the environmental in the closed-loop control system for stability analysis. It is shown that the experimental and theoretical results are in good agreement, and that the designed controller is robust to constrained/unconstrained environment and load disturbances