Implementation of the micro-macro teleoperation system without using slave-side force sensors

Proposes an alternative control algorithm for a scaled teleoperation system. In a micro environment, since the force acting on the environment as well as its dimension is small, the appropriate size or precision of the force sensor for controlling the manipulator is not always available. So, it is important to implement a bilateral scaled teleoperation system without using force sensors in a micro environment. The proposed algorithm utilizes the mass property of the slave manipulator and it could be implemented without using slave-side force sensors. The stability of the system is also guaranteed based on passivity properties of the system, for any scaling ratio between master and slave. The proposed algorithm is applied to an experimental micro-macro teleoperation system and experimental results illustrate the validity of the system