Design of bilateral control based on complementary sensitivity function using velocity information

We propose a bilateral control by design based on complementary sensitivity function. In this control method, we regard force applied by an operator at the master side and contact force from the environment at the slave side as input signals. We are able to determine the transfer function for displacement of the position of the master and slave systems by designing complementary sensitivity function. Thereby this control method is possible to transfer the force at the master side and slave side to the others by feedback only the position information. Adding velocity information in feedback is possible to alleviate the stability condition of the complementary sensitivity function. This paper proposed that the bilateral control can be established in low-order controller.