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This study designs a high-precision bilateral teleoperation control for adissimilar master-slave system. The proposed nonlinear control design takesadvantage of a novel subsystem-dynamics-based control method that allowsdesigning of individual (decentralized) model-based controllers for themanipulators locally at the subsystem level. Very importantly, a dynamic modelof the human operator is incorporated into the control of the mastermanipulator. The individual controllers for the dissimilar master and slavemanipulators are connected in a specific communication channel for thebilateral teleoperation to function. Stability of the overall control design isrigorously guaranteed with arbitrary time delays. Novel features of this studyinclude the completely force-sensor-less design for the teleoperation systemwith a solution for a uniquely introduced computational algebraic loop, amethod of estimating the exogenous operating force of an operator, and the useof a commercial haptic manipulator. Most importantly, we conduct experiments ona dissimilar system in 2 degrees of freedom (DOF). As an illustration of theperformance of the proposed system, a force scaling factor of up to 800 andposition scaling factor of up to 4 was used in the experiments. Theexperimental results show an exceptional tracking performance, verifying thereal-world performance of the proposed concept.

Force-Sensor-Less Bilateral Teleoperation Control of Dissimilar Master-Slave System with Arbitrary Scaling