The Improvement of Telerobotic System Behavior in Contact with Remote Environment by Extension of an Impedance Controller

The teleoperation (telerobotic) systems often face two key challenges: the existence of communication delays between the master and slave site as well as the addition of force feedback to improve the user´s sense of presence. The first goal of this paper is that the slave manipulator should track the position of the master manipulator and the second goal is that the environmental force acting on the slave, when it contacts a remote environment, be accurately transmitted to the master. For solving both problems we proposed the symmetric impedance matched teleoperation systems with a wave filter in feedback loop. Simulations results using a single-degree of freedom master/slave system are presented showing the performance of the resulting system.