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The International Journal of Robotics Research
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Transparent Bilateral Teleoperation under Position and Rate Control

Septimiu E. Salcudean

Ming Zhu

Wen-Hong Zhu

Keyvan Hashtrudi-Zaad

Department of Electrical and Computer Engineering, University of British Columbia, 2356 Main Mall, Vancouver, British Columbia, Canada V6T 1Z4

A four-channel control architecture has been suggested in the literature to achieve transparency for master-slave teleoperator systems under position control. In this paper, the result is generalized to include teleoperator systems that are under rate control or more general master-slave kinematic correspondence laws, such as a mixedposition/rate mode. A one-degree-of-freedom example is given to outline the design and analysis of such a system for transparency and stability. The validity of the theory has been verified through simulations and experiments.

Key Words: teleoperation • force feedback • rate control • transparency

The International Journal of Robotics Research, Vol. 19, No. 12, 1185-1202 (2000)
DOI: 10.1177/02783640022068020
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