Manipulation of the object in the virtual and the real environment using reference dynamics for the task

In this paper, we consider dynamic characteristics of the teleoperation system for executing tasks efficiently. We define such dynamic characteristics as "reference dynamics" for the task and we consider designing a control scheme for the teleoperation system such that the system has the reference dynamics for both the virtual and the real environment. By designing the control scheme so that the master and slave arms have the same dynamic characteristics, the operator's strategy extracted from the operation of the virtual environment would be applied to the real task directly. The proposed system is applied to an experimental manipulator system and experimental results illustrate the validity of the system.