A DESIGN FRAMEWORK FOR TELEROBOTICS USING THE Hoo APPROACH

1. Telerobotic Performance Specifications A telerobotic system (Figure 1) consists of a master robot and a slave robot. For me telerobotic system, me designer can specify me desired behavior [2,13]. For example, me designer may want a dynamic behavior in which me human operator senses scaled-down values o( me forces which me slave robot senses when maneuvering an object, To achieve mis, a controller must be designed so me ratio of me forces on me slave, fs, to me forces on me master, fm, equals a number greater man unity. Then me desired relationship is fs = -IX fm, where IX is a scalar greater man unity. (The negative sign, originating from me convention used in Figure 1. implies me opposite directions of fs and fm.) In another example. the slave is attached to a pneumatic jackhammer. Then, the objective may be bom to attenuate and to filter me jackhammer forces so me humall operator senses only low-frequency scaled-down components of the Jorces mat me slave senses. This requires a low-pass fllter-equivalept relationship, fm = IX fs, where IX is a low-pass filter transfer functioII. In anomer example, instead of shaping me forces as in the examples above, it may be desirable to specify a desired relationship between me master and slave positions. For instance. the slave position could be a scaled-down version of the master position in order to have greater precision in maneuvering.