Abstract
In teleoperation, bilateral master-slave arms are essential to handle objects effectively, when computer systems support the operators to coordinate both manual and automatic modes. Our previous study has shown that the operator can easily adjust the variable gain by the sensed force of gripping at the handlebar of master arm ; that changes the gain of connection between the manual and automatic modes. In this paper, the method for bilateral control of master-slave teleoperation is studied to realize robustness and smoothness in controlling the slave-arms with the computer supporting systems. The sliding mode control, better for robotics, is applied to the control system with variable gains by force-sensed grips. The parameters of the proposed method are examined through some simulations and some actual trials by using a master arm developed for this purpose. The method, proven by some examples of the master-slave movements in the one-degree freedom arm, realizes efficiencies in master-slave arm control with simplicities of commands and flexibility of skilled human operators.
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