Bilateral Master-Slave operation based on cascaded loop structure in force-position and velocity

A classical frequency approach in order to tune the closed-loop of each robot for bilateral teleoperation system is studied. The originality of the tuning is done through closed loop of velocity, position and force. Where the resulting equation of the dynamic gives coefficients that can be assimilate to the apparent impedance of each robot. The apparent impedance feel by the operator depending on the number of control channel is studied with the Hannaford method.