Abstract
Position resolution is a major problem in teleoperation applications with significant disparity between master and slave workspace. While rate mode control is suitable for slave free motion operations, it poses significant stability and performance challenges for task manipulation. In this paper, we propose a hybrid control scheme that offers seamless transition between position and rate control modes based on the environment location information collected from a range sensor. The system incorporates the strengths of position and rate control modes while masking their shortcomings. Experiments to determine the viability of this method are carried out on a single degree-of-freedom teleoperation test-bed.
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