A Bond Graph Model of Bilateral Master-Slave Telemanipulation

K. Iqbal and A.M. Mughal (USA)


Telerobotics, Bond Graph, Bilateral Telerobotics,Telemanipulation


This paper discusses the development of a bond graph model for the design of robotic telemanipulation. A complete telerobotics system is presented from human operator arm to the object at environment. The block diagram is represented using the analogy of electrical and mechanical system. The bond graph theory is adopted for modeling and simulation of the system. The bond graph theory is used to model the system by tracking the flow of power from human operator to the environment. The resulting state space model is simulated in Matlab.

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