Realization of "law of action and reaction" by multilateral control

Abstract

In this paper, a realization of "law of action and reaction" by multilateral control is introduced. First, novel force sensing method based on twin robot system is proposed. Since this force sensing method does not need a parameter identification, it is very easy to implement it in multi-link manipulators. Next, an analysis and a design of bilateral control based on disturbance observer are discussed. Four-channel controller which is integrated of position control and force control in the acceleration dimension can be decomposed into two modes; common and differential modes. Design of bilateral control can be treated as position and force control in single joint, respectively. Furthermore, bilateral control is extended and multilateral control is generalized. Multilateral control can be designed similarly as bilateral control based on modal decomposition. Multilateral control proposed in this paper have a great impact on the academic society, industrial world, the field of medicine and so on.