A bilateral control scheme for 2-DOF telemanipulators with control input saturation

Since the dynamics of the telemanipulator consisting of high reduction ratio joints is likely to be much slower than that of the master manipulator, the control inputs of the telemanipulator are frequently saturated resulting in poor position control performance and deteriorated stability. This paper proposes a bilateral control scheme for 2-DOF telemanipulators with control input saturation, which can improve the position tracking performance while effectively compensating for saturation. A series of experiments show that the proposed scheme provides an excellent position control performance regardless of saturation. (C) 2002 Elsevier Science Ltd. All rights reserved.