A cascaded loop structure in force and position to control a bilateral teleoperation robotic system

A cascaded force and position control is implemented on each of two robots of a bilateral teleoperation system. The aim is to propose a classical frequency approach in order to tune the closed-loop of each robot for different operating modes. Thus an efficient four channel bilateral teleoperation controller is proposed. It can be decomposed into four different two channel controller variations that can introduce inner virtual flexibility. This virtual flexibility is calculated for each case and can be tuned with the gains of the position control of the robots. An original way to calculate the apparent impedance is provided.