Multirate sampling method for bilateral control with communication bandwidth constraint

This paper proposes a multirate sampling method for bilateral control systems over network. In the proposed structure, packet-sending period is larger than control period of motor control. This packet contains position and force information that is transmitted between master side and slave side. In general, packet sending period is equal to control period. The reason comes from the fact that data size of this packet is so small that communication bandwidth between master and slave has not been considered. However, we confirmed a phenomenon that the smaller the packet-sending period, the larger the communication delay. Therefore relationship between packet-sending period and control period should be considered in order to design high transparent bilateral control systems. The validity of the proposed multirate sampling method is shown by numerical and experimental results.