Design of a bilateral position-force, master-slave teleoperation system with non similar robots

In this research a bilateral master slave teleoperation system with two non similar robots is designed and investigated through simulations and experiments. Both robots are fully characterized kinematically and dynamically. Dynamical identification is done using frequency response methods. Transfer functions are fitted through the frequency response data to obtain the system transfer function matrices. These matrices are used to design a bilateral master slave teleoperation system, where the slave robot imitates the position and orientation of the master robot whereas the master is imitating the reaction force applied to the slave when it is in contact with an environment. Controllers for both robots are developed to ensure high performance on the total system, that yields transparency of the teleoperation scheme