Constrained bilateral control by oblique coordinate control taking priority of tasks into account

This paper proposes two methods for position constrained bilateral control. The constraint is given by coordinate transform and additional compensators or command modification methods are not necessary in these methods. The constraint therefore does not destabilize a system and does not nonlinearize it. A difference of the proposed two methods is priority of tasks. The first one ensures slave position limitation and force regulation between two robots. The other one ensures position limitation and position regulation between the robots. Validity of the proposed methods is confirmed by experiments.