A force-reflecting teleoperation system with magnetically levitated master and wrist

Abstract

The authors present a force-reflecting teleoperation system. The system consists of a conventional manipulator equipped with a magnetically levitated teleoperation master identical to the wrist. Aspects of mechanical, system, computational, and controller design are discussed. An approach to the design of force-reflecting teleoperation controllers is also discussed. Admittance matrices and the parameterization of all stabilizing teleoperation system controllers are used to guarantee teleoperation system performance and stability. Some preliminary experimental results are presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>