Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment

The analysis and design of master-slave teleoperation system are discussed in order to build a superior master-slave system that can provide good maneuverability. The authors first analyze one degree-of-freedom systems considering operator and object dynamics. Secondly, they define some ideal responses of master-slave system, and a quantitative performance index is given based on the concept of the ideal responses in order to evaluate the maneuverability of the system. Thirdly, they propose new control schemes of master-slave manipulators which can provide the ideal object realities so that the operator can feel the object through the system ass though he were manipulating it himself. Lastly, the proposed control scheme is examined by a prototype master-slave system, and its validity is confirmed experimentally