Stability analysis of bilateral control by considering environmental impedance and modeling error

This paper analyzes the stability of acceleration-based bilateral control (ABC) using a disturbance observer (DOB) and a reaction force observer (RFOB) by considering the effect of environmental impedance and modeling error. ABC is one of the control method to enable highly precise transmission of haptic sensation between master and slave robots. Conventionally, ABC is analyzed by using slave side environmental impedance and ideal acceleration control and load force estimation. However, the stability of ABC is affected by both master and slave side impedance, cutoff frequency of DOB and RFOB, and modeling error. Therefore, this paper proposes the approach for analyzing stability of ABC by considering these factors which affect the stability of the system. The validity of proposed approach is verified by simulation and experimental results.