Motion canceling bilateral control with image-space observer in free-motion

Master-slave system with bilateral control is a key technology for the next generation robots. Since position and force information are transmitted bilaterally, operators can operate slave robots in remote places, and feel tactile sensation of remote environments. However, since the slave robot performs according to human operation, operational skills are required, and the workload is heavy. It is especially difficult to realize teleoperation when the target object moves in a remote place. Motion canceling bilateral control (MCBC), a method to synchronize motion of the slave robot and the target, can be one solution for this problem. The purpose of this research is to design MCBC controllers considering the zero-order hold (ZOH) effect caused by camera information. First, transparency of 4ch MCBC controller and 3ch MCBC controller are analyzed. Then, image-space observer (IOB) is introduced to the 3ch MCBC controller to enhance the performance. Simulation and experiment are conducted to verify the validity of the proposed method.