Transparent teleoperation using two-channel control architectures

This paper investigates transparent teleoperation using two-channel control architectures. First, we show the transparency attainability using hybrid parameters and present transparency conditions according to each class of two-channel control arctitectures. In addition, for real implementation, the following practical solutions are introduced: design guidelines for control parameters to reduce the effect of impedance estimation error, and a hybrid control law based upon time-delay control for unknown impedance. Finally, the proposed scheme is applied to a haptic simulation using a 1-D.O.F. master and a teleoperation task using a 2-D.O.F. master-slave system. The experimental results show the validity of the theoretical works.