Design of TeleHaptic Simulators for Various Control Architectures

In this paper, we discuss the design of different models for teleoperation control by presenting the significant benchmark results for various important force reflecting control architectures used in 1-DOF bilateral teleoperation. They are used to analyze the results of force and distance tracking graphs in free motion and contact mode obtained from various control models by varying dynamics of master, slave, environment, and communication channel. In this regard, different force reflecting teleoperation control architectures are simulated via proposed model design, such as two-channel (2C) architectures, three-channel (3C) and finally four-channel (4C) architecture. These benchmark results are presented for each architecture via MATLAB/Simulink-based simulator.