Model Mediated Teleoperation of a Flexible Object with a Gripper Mounted Telerobot

This work introduces a novel concept of breaking flexible objects dynamics into two sub-models. One for approximating the grasping (contact) force and the second for approximating the forces felt due to motion after the object is grasped. This involves designing model-specific estimation techniques in an MMT setup. The sub-models are approximated at the master end and the estimation is carried out at the robot end. The results obtained are comparatively good at high frequencies for the inertial model. However, the flexible model is not descriptive enough to capture the object dynamics.