Implementation of position-force and position-position teleoperator controllers with cable-driven mechanisms

Bilateral teleoperation involves the motion control of a slave mechanism with a master mechanism that is capable of reflecting the sensory information such as force and torque signals captured from the master mechanism. Normally, the master and slave mechanisms in a teleoperator system are physically separated and are connected via some communication interface. As technology in robotic mechanism design continuously develops, advanced teleoperator systems are emerging. From the handling of hazardous and delicate materials in nuclear decommissioning to medical applications such as orthopedic and laparoscopic surgery, the demand for high bandwidth and fine-force reflecting bilateral teleoperator systems has become more and more important. This paper focuses on the implementation of an advanced master-slave teleoperator system using cable-driven WAM and PHANToM devices. Special emphasis is placed on the pragmatic issues on the implementation based two different designs of the teleoperator control schemes and the performance of the system under these two teleoperator control schemes.