Three-channel micro-macro bilateral control system with scaling of control gains

Bilateral control robots are one of the master-slave teleoperation robots. The Bilateral control robot achieves communication of force sensation between master system and slave system. As one of the bilateral control systems, a three-channel bilateral control system was proposed. The three-channel bilateral control system has only three communication channels and the position information is transmitted only from master system to slave system. Moreover, there are micro-macro bilateral control systems that are one of the applications of bilateral control system. The micro-macro bilateral control system consists of master and slave system, the sizes of that systems are different. Therefore the system contains scaling factors of information. This paper proposes a three-channel micro-macro bilateral control system with scaling of control gains. The proposed method is designed based on reproducibility and operationality that are one of evaluation indices of bilateral control systems. The validity of the proposed method is confirmed by analysis and experiment.