Transmission of Force Sensation by Micro-Macro Bilateral Control with Respect to Standardized Modal Space

This paper proposes novel micro-macro bilateral control architecture with respect to standardized modal space. In bilateral control, force control and position control must be realized simultaneously in the same real axis. In this paper, force control is achieved in virtual common mode space and position control is attained in virtual differential mode space respectively. In the modal space, common mode and differential mode are orthogonal. Thus, force control and position control are able to be realized simultaneously. Additionally, the standardization matrix that harmonizes the standard of macro master system with the standard of micro slave system in the modal space is proposed as well. With the proposed method, the transmission of force sensation from the real micro environment is achieved. To verify the validity of the proposed method, experimental results are shown.