An approach to bilateral control strategy for nonidentical master-slave system

This paper aims at a complex and multifunctional motion control by teleoperation safely and easily. In order to accomplish this purpose, the bilateral control system for nonidentical master-slave system is proposed in this paper. Slave system is dual armed mobile manipulator which has redundancy, high mobility, and workability to achieve complex motion. On the other hand, haptic joystick is used as master system so that the operator can use it easily. Bilateral teleoperation with such system is achieved by multilateral control virtually. This paper also proposes the control index named ¿motion initiative (MI)¿. MI varies depending on the relative distance between slave and target object and external force. Based on the change of MI, the weighting factor of slave system also varies and it makes operator to control slave robot easily and safely. The simulation was carried out to verify the validity of the proposed scheme.