Distinction of connection condition of system in bilateral control

Recently, haptic information is studied as the third multimedia information. In order to control haptic information, bilateral control with a master slave system is used widely. Because the plural systems are handled, it becomes important to think of the connection condition among the systems. In this paper, the difference with unilateral control system and bilateral control system will be confirmed by two methods. First method, the graph theory is used. Second method is that the transfer function of the unilateral control is found. From the experiment result, it is shown that even if we added the same input to the master system, the movement distance of the system changed depending on strength of the connection of the system.