Analog Control Design for a Two Degrees of Freedom Bilateral Teleoperation System

In this paper, we detail the process of designing and implementing a two-way teleoperation system in which the manipulators (master and slave) each have two degrees of freedom. Position-position architecture is implemented for both the joints on the master and slave manipulators. The controllers for both joints are implemented using operational amplifiers. The teleoperation system is tested for both free and contact motion. It is experimentally found that the joints of the slave manipulator follow the trajectory of the respective joints of the master manipulator. The slave manipulator also experiences force reflection whenever it comes into contact with the environment. The presented cost-effective setup can be used to introduce key concepts of haptics control technology to undergraduate students taking the course on linear control systems.