Force-based Two-channel Bilateral Control for Position/Velocity Controlled Robots

摘要

Bilateral control is a key technology for achieving safe teleoperation with haptic feedback. The ability to easily apply bilateral control to industrial robots and existing servo systems is important for realizing industrial applications of bilateral control. Four-channel bilateral control, in which position (velocity) and force information are transmitted between the master and slave robots, is known to be an effective bilateral control system. However, 4-channel bilateral control can be applied to torque-controllable robots, whereas a lot of industrial robots are driven by velocity or position control. Therefore, this study proposes applying bilateral control, which transmits only force information, to a position/velocity-controlled robot. The proposed force-based bilateral control system can be applied to position/velocity controlled robots while maintaining the performance characteristics. The effectiveness of the proposed method is confirmed by simulation.