Bilateral controller design based on transparency in the state convergence framework

This paper describes a new methodology for designing bilateral controllers based on transparency that applies a modified scheme of control by state of convergence. The design is based on modelling the behavior of the master and slave which regard state space equations, and also taking into account that perfect transparency cannot be reached. This methodology allows designing the controllers in order to obtain the convergence between the state of the master and the slave. Furthermore, it consequently provides a higher degree of transparency to the operator. The paper explains criteria in achieving convergence between the master and the slave, and so as with transparency on a steady state. A set of equations that calculate controller gains have been obtained by applying such criteria. In order to verify this new methodology, a master-slave system of 3 DoF have been used.