Operational force reduction method in bilateral control system and evaluation under time delay

Bilateral control is the control technology transmitting the sense of the force to the remote area by using master robot and slave robot. In this control system, it is desirable for operational force to be small. If there is large operational force, it is difficult to recognize stiffness of the remote object, because differences between the contact force and the operational force come small. In addition, under the real situation, transmittable information may be limited. To solve these problems, in this paper, the operational force reduction method in bilateral control by acceleration model addition is proposed. This method reduces the operational force for manipulating master robot without imposing load on the network. Furthermore, instability can be avoided by using low-pass filter. At first, equations are assembled to reduce the operational force by using hybrid parameters. Afterwards, the validity of the proposed method is confirmed in simulations. Moreover, the time delay response, which is a new evaluation index, is introduced and the effectiveness of the proposed method is verified in time delay system. At last, the effectiveness of the proposal is shown in experiments by using actual robots.