Implementation of loop-shaping compensators to increase the transparency bandwidth of a scaled telemanipulation system

This paper describes the implementation of a two-channel position-force control architecture on a three degree-of-freedom scaled master-slave telemanipulation system. The architecture enables the authors to address both the transparency bandwidth and stability robustness of the system. First, the uncompensated transparency and stability robustness of the bilateral telemanipulation system are experimentally assessed. Then, loop-shaping compensators are used to increase the transparency bandwidth, while maintaining the stability robustness of the system, and the results are compared with those of the uncompensated system.