FPGA implementation of the bilateral control algorithm for a high performance haptic teleoperation

Abstract

This paper deals with a haptic teleoperation, that can significantly improve the execution over a wide area of tasks. The latter can be found in a medicine, military, space exploration and many others. The paper describes the control algorithm implementation for a high performance haptic teleoperation. The algorithm is tested by a 2-DOF experimental haptic laboratory system. The Field Programmable Gate Array (FPGA) contributes to the bilateral teleoperator performance, therefore, transparency, stability, and robustness can be increased.