Maneuverability of Master-Slave Telemanipulation Systems

Abstract

Maneuverability of master-slave telemanipu-lation systems is difficult to evaluate exactly, since it seems an intuitive sense for human op-erators. However, if we could not evaluate the system performance quantitatively, it would be impossible to decide what kind of master-slave system is desirable and also im-possible to compare the performance among the several control schemes. In this paper, we propose a way to evaluate the maneuverability of master-slave telemanipulation systems. We fi rst analyze an one degree-of-freedom system considering the operator and object dynamics. Secondly, we define some ideal responses of master-slave system and derive the conditions to achieve these responses. Lastly, a quantita-tive performance index is given in order to evaluate the maneuverability of the system. This index examines how close the actual response is to the ideal one. A numerical example is shown where three conventional control schemes are evaluated by the proposed performance index.