Abstract—Good position and force tracking are two important performance requirements on teleoperation system. However the external disturbances significantly reduce the position and force tracking accuracy of teleoperation system. To solve this problem, this paper proposes a control method which combines backstepping control and PID control to control the teleoperation system based on PHANTOM Omni robots. PID controller is designed for the master robot to achieve force tracking, while backstepping controller is designed for the slave robot to achieve position tracking. Furthermore, simulations are conducted using MATLAB to verify the proposed method for the teleoperation system, composed of two PHANTOM Omni robots. Simulation results show that when the system is subjected to external disturbances, the proposed method which combines backstepping control and PID control can ensure system stability and keep good position and force tracking performance. 

Index Terms—PHANTOM Omni robots, teleoperation system, backstepping controller, PID controller, position tracking, force tracking

Cite: Rong Kong, Xiucheng Dong, and Xia Liu, "Position and Force Control of Teleoperation System Based on PHANTOM Omni Robots," International Journal of Mechanical Engineering and Robotics Research, Vol. 5, No. 1, pp. 57-61, January 2016. DOI: 10.18178/ijmerr.5.1.57-61