Macro-micro bilateral control system without position limitation

Recently, robots for micro manipulation are desired in the medical care field. In that case, transmission of haptic sensation of micro object is very important. It is achieved by macro-micro bilateral control system. In the macro-micro bilateral control system, position and force of slave motor are enlarged. Therefore, slave motor position is limited by scaling gain. Due to this limitation, if scaling gain is high, slave may not be able to touch the environment. On the other hand, dimensional scaling bilateral control system does not have position limitation. In the dimensional scaling bilateral control system, slave velocity tracks the master position. In this paper, in order to avoid the position limitation of slave motor, the control system which consists of macro-micro bilateral control system and dimensional scaling bilateral control system is proposed.