Position and Force Tracking in Bilateral Teleoperation

Abstract

A teleoperator is a dual robot system in which a remote slave robot tracks the motion of a master robot, which is, in turn, commanded by a human operator. To improve the task performance, information about the remote environment is needed. Feedback can be provided to the human operator by many different forms, including audio, visual displays, or tactile. However, force feedback from the slave to the master, representing contact information, provides a more extensive sense of telepresence. When this is done the teleoperator is said to be controlled bilaterally.