Large scale micro-macro bilateral control using piezoelectric cantilever with plant nominalization

As far as authors´ understanding, scaling factors presented in this paper are the highest values in the researches about force sensorless bilateral control. The cantilever is nominalized by disturbance observer in order to control master and slave with same method, which is intended to simplify the control system. An operator can feel magnified reaction force applied to the cantilever without force sensors by utilizing reaction force observer. Operationality and reproducibility are defined mathematically. Characteristics of these values and stability are analyzed and experimentally verified.