Implementation of the micro-macro teleoperation system without using slave-side force sensors

Abstract

This paper proposes an alternative control algorithm for scaled teleoperation system. In micro environment, since force acts on the environment as well as its dimension is small, appropriate size or precision of force sensor for controlling manipulator is not always available. So, it is important to implement bilateral scaled teleoperation system without using force sensors in micro environment. The proposed algorithm utilizes mass property of the slave manipulator as it is, it could be implemented without using slave-side force sensors. The stability of the system is also guaranteed based on passivity properties of the system, for any scaling ratio between master and slave. The proposed algorithm is applied to experimental micro-macro teleoperation system and experimental results illustrate the validity of the system.