Micro-macro bilateral control with compensation of gravity and friction

In the macro-micro bilateral control, external force added to the slave motor is scaled. In the control, gravity and friction of the slave motor is scaled. Therefore, when the scaling rate is large, adverse effects of the gravity and friction become large. For accurate control, these factors must be compensated. Environment quarrier is proposed as the real time identification and compensation of the gravity and friction. It uses dummy motor and operate motor. These motors have same structure and same position. By assuming that the gravity and friction of the motors are same, the system achieves real time identification and compensation of the gravity and friction. This paper proposes micro macro bilateral control with compensation of the gravity and friction. The system consists of master motor, slave motor and dummy motor. The master and slave motors are controlled by macro-micro bilateral control. The dummy motor compensates gravity and friction of the slave motor. The proposed system decreases the negative effect of the gravity and friction when the scaling rate is large.