In teleoperation, the most effective way to increase the working efficiency of telerobot is to provide human operator with the accurate information of load force, deformation and stiffness of the object in remote working region. This paper presents a master-slave control method of telerobot based on load impedance identifier. The identifier is used online to identify the load impedance of slave actuator and establish the virtual impedance of master actuator. The virtual impedance converts the displacement of master actuator into the force input of slave force controller. The slave force controller, combined with the slave position controller, controls the slave actuator. The experiments confirm that the human operator can obtain the accurate senses of force, deformation and stiffness of the object. This provides the beneficial reference for designing master-slave control system.
