Maneuverability of flexible master-slave systems

In this paper, the maneuverability of master-slave systems with flexible slave arms is discussed. Firstly the one link rigid-master and flexible-slave arms rotating in the horizontal plane is modeled. And the dynamics of both the environment and the operator are expressed as impedance models. Secondly the input-output relations of master-slave systems are represented by using the two-terminal-ports network model. Finally on the basis of this representation, the evaluation of maneuverability is achieved by using the quantitative performance index with some numerical simulation results