Performance of robotic teleoperation system with flexible slave device

Abstract

This paper presents a comparison of four control strategies for a teleoperation system with a flexible link slave. In the classic literature, slave devices are considered only with rigid links whereas applications such as space robotics include flexible links. Thus, a more realistic model of a telemanipulator to compare and evaluate the performance of control architectures for teleoperation needs to be developed. The simulation is based on a one degree of freedom telemanipulation system available in our laboratory. Results indicate that position control modes could yield better performance than rate control when considering point-to-point tests.