Transparent Bilateral Teleoperation under Position and Rate Control

A four-channel control architecture has been suggested in the literature to achieve transparency for master-slave teleoperator systems under position control. In this paper, the result is generalized to include teleoperator systems that are under rate control or more general master-slave kinematic correspondence laws, such as a mixedposition/rate mode. A one-degree-of-freedom example is given to outline the design and analysis of such a system for transparency and stability. The validity of the theory has been verified through simulations and experiments.