Sliding mode bilateral control and four channels scheme control of a force reflecting master/slave teleoperator

The work completed through this paper made it possible to study and compare various coupling schemes of bilateral control in force reflecting teleoperation, by concretely implementing them on a 1DOF master/slave demonstrator. With this intention, we applied and tested two principal schemes, the sliding mode scheme and the four channels data transmission scheme in which the two systems (master and slave) are tracked mutually either in force and position. Thus, according to the architecture, transparency and stability of the coupled system were analyzed either in free motion or when colliding with a stiff and rigid environment.