REALIZATION OF REMOTE SYSTEM IDEAL PERFORMANCE AND THE EXPERIMENTAL RESEARCH

This paper makes theoretic analysis and experimental research on the realization of ideal performance of a master-slave remote system. For a position/force controlled telerobot, ideal performance means to realize position track and force track of master-slave manipulators. By analyzing, this paper first presents a control schemes with which the ideal performance of the system can be realized. Because of the force differentiation signal, the schemes are simple. Then based on passivity, the stability of the system is analyzed. The experimental results show that under the conditions in which the slave manipulator interacts or does not interact with the environment, the master-slave remote system can almost realize ideal performance.