Flexible Master-Slave Teleoperation Control System Based on Force Feedback Manipulator

This paper presents an innovative approach to teleoperation using force feedback manipulators, emphasizing the development of a flexible master-slave control system. By allowing both the master and slave arms to interchangeably control and respond to each other, the system enhances adaptability in remote environments. Through real-time joint and endpoint control modes, users can experience a heightened sense of immersion and accuracy in controlling manipulators. Experimental results demonstrate the system's capability to maintain consistent feedback and alignment, significantly improving remote task execution efficiency and reliability.