Abstract:
Scaling is a technique used to transfer the dynamic
motion properties of a remote device (slave robot) to the operator
(master robot) or vice versa. This is a challenging task in terms of
force, position, power, and impedance scaling approaches when
master and slave manipulators are dissimilar. Teleoperation
using scaling methods is a popular topic in motion control field,
and many research papers are written on different scaling
methods. This paper gathers the most important and diffused
bilateral scaling technologies. It also integrates a collection of
some of the widely used scaling technologies with a historical
overview and the improvements proposed by a range of
researchers.
