Bilateral teleoperation transparency at steady states

The contribution of this paper comes from a modeling which allows simplify equations compared to the previous study. Depending on the number of channels, we calculate the teleoperation transparency at steady states and discuss conditions to achieve ideal transparency. New experimental results are proposed with the four channel teleoperation system to validate again our simulator. Then results of the calculations are checked by simulation for each type of control laws.

I. Introduction

The implementation of a bilateral teleoperation system, where an operator manipulates a master robot so that a slave robot interacting with the environment reproduced the behavior of the master one is a tricky problem [1].