A kinesthetically coupled teleoperation: its modeling and control

Presents an advanced teleoperation system in which the dynamics of human operator, master arm and slave arm are coordinated under the paradigm of generalized impedance control. Employing the generalized impedance of the manipulator provides a unified approach to position and force control. In addition, incorporation to a nonlinear dynamic compensation loop into the previous kinesthetic feedback loop resolve the actuator saturation problem without the aid of the human operator. The proposed approach allows the task performance and stability to be robust to the operator, as well as the actuator limitation.<>