Synchronization Control of Position and Velocity for Heterogeneous Teleoperation System

Due to different mechanical structures, communication methods and task spaces, the master robot and the slave robot in a heterogeneous teleoperation system are difficult to keep synchronization. This paper presents a synchronization control strategy of position and velocity for the heterogeneous teleoperation system. The interaction force between the operator and the master is utilized to make the master generate the position information and position variation. The position information of the master is used to control the position of the slave. Meanwhile, the position variation of the master is employed to indirectly control the velocity of the slave. In this way, the position and velocity of the slave can be in synchronization with those of the master. The experimental results demonstrate that with the proposed control strategy the slave can act on the target more accurately and quickly, enhancing the operator's operational flexibility.