A bilateral force reflecting teleoperation system for wiping operation

This paper describes a bilateral force reflecting teleoperation system to wipe a floor surface in a remote manner. This teleoperation system consists of three subsystems - a two degree-of-freedom(dof) master manipulator, a two dof slave manipulator, and a real-time control system. The human operator performs a series of floor wiping tasks controlling the slave manipulator through the master manipulator. A position-force control algorithm is proposed to control the slave manipulator's movement, and the contact force occurring between the end-effector of the slave manipulator and the floor surface during wiping. Experiments are performed for evaluating the performance of the developed teleoperation system.