Transparent implementation of bilateral teleoperation controllers under rate mode

Transparent teleoperation under rate mode has proven to be difficult in terms of stability, performance and implementation. This is mainly due to the need for the exchange of the derivatives and the integrals of measured positions and forces. This paper proposes a number of control architectures designed based on the use of local force feedback and environment impedance reflection. The performance of these controllers are compared under different operational conditions using both analytical methods and numerical simulations.