Modeling of a Single DOF Force Feedback Teleoperation System
نویسندگان
چکیده
The objective of this paper is to describe the modeling of a single degree-of-freedom (DOF) teleoperation system by using the Matlab software tool. Modeling a teleoperation system consists of the modeling of the dynamics and kinematics of two subsystems as well as the communication line between them to couple the systems and user interface to interact with the system. The subsystems of a teleoperation system are the master and the slave. In this paper, subsystems are chosen to have a single degree-of-freedom. A constant time-delay is also modeled to see the effect of time delays on the stability of teleoperation. The wave variable technique is then introduced to enhance the stability of the system. Preliminary simulation results are also presented in an effort to demonstrate the use of the developed model.
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