An Optimal Fusion of the Position Control Part and the Force Control Part in the Bilateral Control System

• Published in: 2023 IEEE 12th Global Conference on Consumer Electronics (GCCE) pp. 545 - 546
• Main Authors: Kenmochi, Kazuho, Dai, Yuto, Hirakoso, Nobuto
• Format: Conference Proceeding
• Language: English
• Published: IEEE 10.10.2023
• Subjects: Bilateral control system; Control systems; Fluctuations; Force; Force feedback; Leader follower robot system; Object stiffness formulation; Optimal Fusion system; Optimal scheduling; Position control; Torque
• ISSN: 2693-0854
• DOI: 10.1109/GCCE59613.2023.10315648

In this report, a bilateral control method treated as leader-follower robot system is conducted. Then the constructed leader-follower robot system is treated as an optimal fusion of position control system and force control system with one DOF rotation arm system. It is to realize the force feeling received from the follower robot arm around operator and the rotation angle of leader robot arm caused by operator around follower robot arm with accurately. In general, on the leader-follower system with one axis arm rotation system, a control system for leader to follower is brought as only position feedback control system, a control system for follower to leader is brought as only force feedback system. To construct a bilateral control method with high accuracy, a gain scheduling scheme optimized by stiffness of the contact object to fusion force control system and position control system is proposed, tripled feedback loop is treated to achieve the optimal scheduling scheme with high accuracy. To verify the effectiveness of proposing bilateral control system, some experiments are executed and obtained the results are evaluated.