Abstract
A high performance teleoperation system is required to carry out tasks of various kinds efficiently in critical and hazardous areas in place of human beings. The bilateral control method for manipulators with different configurations has been proposed to provide the conventional master-slave control method with good manoeuvrability and dexterity. In this paper the improvement of the formerly proposed method is considered. In the newly developed method manipulators with different numbers of degrees of freedom as well as different configurations are able to be used. In the process of coordinate transformations the concept of the common space and its subspace is introduced. The basic experiments using two types of manipulators with two and three degrees of freedom have been done to check the feasibility of the method. The effect of the joint dynamics is analyzed and its compensation methodd is also discussed.
