Design Fundamentals of Master-Slave Systems with a Force-Position Bilateral Control Scheme

Abstract This paper presents a detailed analysis of the dynamic performance, including stability, of master-slave systems with force-position bilateral control. This analysis allows to get special insight into those factors governing the performance of this kind of. A simplified one DOF linear model of a master-slave system for in-contact situations allows to develop a theoretical framework where system stability is analyzed through linear control theory. The analysis goes as far as to unveil the specific influence of each parameter (dynamic parameters of master and slave arms, force-feedback ratio, etc.) in a surprisingly clear way. The stability analysis is complemented with an analytical study of system performance in the splane.