Experimental Results on Bilateral Control Using an Industrial Telemanipulator

  • Manuel Ferre
  • Jordi Barrio
  • Claudio Melchiorri
  • Juan M. Bogado
  • Pedro L. Castedo
  • Juan M. Ibarra
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 31)


The goal of this chapter is to experimentally study the behaviour of bilateral controllers. Previous chapter introduced a general framework for designing bilateral systems. In this chapter, performance of some of the most common control schemes is analyzed. In case of negligible time delay, experiments have been carried out by implementing position-position and force-position controllers. Force-velocity control scheme has been used in presence of communication time delays. Experiments have been run with a constant delay of 100 ms in the communication channel. In this case, master-slave interconnection has been described by means of the corresponding scattering variables. Experimental results of the different control schemes have been obtained using an industrial telemanipulator of 6 degrees of freedom manufactured by Kraft Telerobotics.


Position Error Texas Instrument Rigid Object Operator Perception Bilateral System 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • Manuel Ferre
    • 1
  • Jordi Barrio
    • 1
  • Claudio Melchiorri
    • 2
  • Juan M. Bogado
    • 3
  • Pedro L. Castedo
    • 1
  • Juan M. Ibarra
    • 4
  1. 1.Dpto. Automática, Ing. Electrónica e Inf. IdustrialUniversidad Politécnica de MadridMadridSpain
  2. 2.Department of Electronics, Computer Science and SystemsUniversity of BolognaBolognaItaly
  3. 3.Dpto. de Electronica y CircuitosUniversidad Simón BolivarMirandaVenezuela
  4. 4.Centro de Investigacin y de Estudios Avanzados (CINVESTAV)Instituto Politécnico NacionalMexico DFMéxico

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