Is slavery an institution based on dominance and submission?

In my humble opinion, absolutely not! This is the sort of thing that gives the D/s community a very bad name and these days it is a sad state of affairs as it is. Slavery was only bad people exerting their will over a group of people with no means to defend themselves (I am of course referring to the American south). Now days slavery is still alive and well unfortunately (I am talking about non-consenting slavery not slavery in an adult relationship between consenting adults).

Dominance and submission in an adult relationship is by mutual consent (very different then the slavery of the American south).