Analysis, Modeling, and Compensation of Friction for Scaled Bilateral Control

Abstract

At present, many kinds of robots are being developed for medical care. In medical care, operations often need to be performed at the micro-scale. This study was focused on a macro-micro bilateral control system that can transmit haptic sensations of a micro-environment between master and slave systems. The macro-micro bilateral control system amplifies disturbances; therefore, analysis, modeling and compensation of the disturbances were considered.