Abstract
Many studies have been conducted for quantitative/qualitative analysis and comparison of various teleoperation schemes. Position-position, force-position and 4-channels are to name a few. However most of this research has been focused on electrically actuated manipulators. This paper documents the comparative study of various teleoperation schemes explicitly for hydraulic manipulators. Identical water-hydraulic actuators have been used as master and slave. Three popular schemes of teleoperation: position-position, force-position and 4-channels have been implemented and tested. The results are compared on the basis of criteria established by other researchers for electrically actuated manipulators. The study has been done using manipulators with single degree of freedom to emphasize the comparison. The research has been carried out with a goal to extend the number of degrees of freedom in future to obtain a practical water-hydraulic teleoperation system useful in industrial applications such as International Thermonuclear Experimental Reactor (ITER).
