Experiments with transparent teleoperation under position and rate control

A four-channel data transmission structure has been proposed in the literature to achieve “transparency” for master-slave teleoperator systems under both position and rate control. In this paper, experimental results for a one degree-of-freedom system are given to demonstrate that the proposed scheme possesses good stability and transparency under both position and rate control in contact with both flexible and rigid environments. A unilateral constraint correction under rate control is also discussed