Macro-micro bilateral control using Kalman filter based state observer for noise reduction and decoupling of modal space

In this research, a novel structure of macro - micro bilateral control for reduction of quantization noise and interference in the modal space is proposed. Macro-micro manipulation is needed for various fields such as minimally invasive surgery and investigations. Scaled bilateral control is one of key technology for micro manipulation. However, performance of scaled macro-micro bilateral control is deteriorated because of enlarged quantization noise and interference between force and position control. In this research, Kalman Filter base State Observer is extended and constructed in the common and differential modal space in order to reduce effects of enhanced quantization noise which is enlarged by scaling factor. In addition, interference and disturbance are eliminated by using a structure based on a disturbance observer. Validity of proposal is confirmed by simulations and an experiment.