A novel dimensional scaling bilateral control for realization of mobile-hapto

This paper proposes a novel dimensional scaling bilateral control for mobile-hapto. The dimensional scaling bilateral control realizes force feedback between the master and the slave with different motion areas. By this system, an operator can manipulate velocity of the slave, and feel reaction force at the slave. For realizing this system, force and position responses of the master and the slave are transformed to a modal space. And force and position controllers are constructed in the modal space. In the conventional method, however, a precise bilateral controller is not achieved because the dynamics in the modal space is not considered. Therefore, in this paper, the dynamic behaviors in the modal space is described, and a decoupling control system with the disturbance observer in the modal space is realized by the proposed method. Finally, the validity of the proposal is verified by simulation and experimental results.