1. Definitions – Functional architectures and principles

1.1 Definition and classification of force feedback master-slave telemanipulators

The term "force feedback master-slave telemanipulator" refers to an assembly of two manipulators (or arms) – master and slave – linked by mechanical transmissions or servo actuators in force feedback master-slave mode. Note that topologically, the manipulator is not simply interposed between the operator and the object, but connected in the middle to a fixed part (wall) which acts as a frame.

The classification of master-slave telemanipulators corresponds to the various stages of their technological development in the nuclear industry, and serves as an essential reference:

• master-slave manipulator (MSM) ;

• ...