Experimental study on bilateral control method with consideration of object rigidity

In this paper, a bilateral control system consisted of position control system and force control system for master slave robot system is conducted. In this bilateral control system, at first the position control input command by operator send to slave robot system, then a load received from slave robot arm send to master robot system as control command of force feeling when slave robot arm is attached the obstacle. In this paper, to realize such master slave system accurately, appropriate feedback loop applied obstacle sensation such as the ratio of time differential for torque to angular velocity is interposed between the position control loop and force control loop. Moreover the authors equip the master slave robot system with one DOF robot arm rotation system and such bilateral control system. To verify the effectiveness of proposing bilateral control system for master slave robot system, two case experiments are executed and obtained the result is evaluated.