Manipulator Bilateral Teleoperation with Impedance Control

The impedance model is crucial for the adaptability and stability of teleoperation control systems. Conventional impedance models with fixed parameters are insufficient for complex, time-varying tasks. In this work, a master-side command is developed by integrating the position of the master manipulator into the impedance model. An adaptive impedance model is then designed using the observer and environmental interaction forces, enabling task-dependent parameter adjustment. To validate the proposed method, a dual-master dual-slave teleoperation framework is developed and tested through force-feedback experiments involving deformable object manipulation. Results confirm reduced tracking errors and effective autonomous parameter tuning, demonstrating the algorithm's validity and superiority.