Bilateral Haptic Feedback for Different Working Ranges by Transmission of Force Information

摘要

In recent years, robots to replace human labor in industrial fields and extreme environments are required. Especially, teleoperation technologies are expected to play an important role. Therefore, this study proposes bilateral haptic feedback control for different working ranges based on force-information transmission. Conventional bilateral control systems for the different working ranges are based on a dimensional scaling method which utilizes position/velocity-forces hybrid control. In dimensional scaling, the position of the master system tracks the speed of the slave, and the velocity of the slave system tracks the position of the master system. The proposed method can achieve a dimensional scaling control with force feedback by transmitting only force information with the performance equivalent to the conventional method. The proposed method can reduce the amount of haptic data traffic because of the utilization of only one type of information. Simulations evaluate the proposed method with a comparison to the conventional methods.