Bilateral Control of Different Order Teleoperators

摘要

This paper presents a bilateral control method for teleoperation systems where the master and the slave are modeled by different order transfer functions. The proposed methodology represents the teleoperation system on the state space and it is based in the state convergence between the master and the slave. The method allows that the slave follows the master, and it is able to establish the dynamic behavior of the teleoperation system. The first results obtained when the method is being applied to a commercial teleoperation system in which the master and the slave are modeled by different order discrete transfer functions are shown in this paper.