Analysis and design of haptic telerobotic system

A control scheme is derived for a 'master-slave' telerobotic dynamic system with haptic behaviour. The telerobotic system consists of a 'master' robot , operated by a human arm, and a kinematically identical 'slave' robot, loc ated at a remote site. When the operator moves the handler of the 'master' back and forth. the remote 'slave' mimics the motion in a constrained or un constrained environment. The disturbance and reaction forces from the envir onment and the loads are fed back to the handler of the 'master' and felt b y the operator. Thus, the operator gets a feel of what is 'out there' witho ut being 'there'. The advantage of the presented control scheme is the inte gration of the dynamics of the operator arm. actuators, and the environment in the closed-loop control system for stability analysis. It is shown that the experimental and theoretical results are in good agreement, and that t he designed controller is robust to constrained /unconstrained environment and load disturbances.