Tele-Bilateral Impedance Control for Master-Slave Systems

Abstract

With an increase of needs of tele-operation in several applications, e.g., deep sea or space exploration and tele-surgery, many researchers studied bilateral master-slave tele-operator systems especially after a novel and simple method using a scattering transformation to overcome the instability due to transmission delays was proposed. In this paper we propose a bilateral master-slave manipulator system in which the slave impedance can be adjusted by an operator in a bilateral fashion. The stability of the system for the time delay is also discussed, and the effectiveness of the system is shown by experiments.