Bondgraph Modelling for the Master-Slave Robotic Teleoperation System

Teleoperation is required where the operator cannot directly access the actual workspace such as nuclear exploration, garbage treatment, surgical workspace in laparoscopic and Natural Orifice Transluminal Endoscopic Surgery (NOTES), etc. In master and slave robotic teleoperation system the force and velocity information exchange take place between master and slave robots. In this paper, the bondgraph modelling technique has been used for the modeling of master-slave robotic teleoperation system. Here, the elements of teleoperation system such as master robot (Phantom Omni haptic device), slave robot (miniature In-vivo robot), communication architecture and external environment are modeled in bondgraph. Simulation results for trajectory tracking (in unilateral teleoperation) and force feedback (in bilateral teleoperation) between master and slave are presented.