An Approach to Performance Improvement for Bilateral Control based on 4ch-Controller with Acceleration Feedback

摘要

In order to achieve the less-invasive surgical operation, the operation using robots is widely studied. In the surgical operation, it is important for an operator to get haptic information of a patient. The haptic information is the interactive information, i.e. action-reaction forces. Bilateral control is introduced to get the haptic information of the remote environment and to perform an operation using robots. In this paper, a novel 4ch controller structure with acceleration feedback for bilateral control is proposed. In the proposed method, the acceleration information in addition to the position, velocity and force information is transmitted between master and slave systems. The acceleration of the slave robot is input to the master controller and the acceleration of the master robot is input to the slave controller, respectively. With the proposed method, hybrid matrices, which are evaluation indices of performance, come closer to ideal conditions and the operationality is improved. The validity of the proposed method is confirmed by simulation and experiment results.