Synchronization Performance Improvement on Motion Canceling Bilateral Control Using an Extended Dual Sampling Rate Observer

Abstract

Motion canceling bilateral control (MCBC) is a method to synchronize motion of a teleoperation robot and a target, while an operator can obtain tactile sensation of the remote target. This interface helps the operator by taking a task and reduces his/her workload. However, the delay caused by the sensors deteriorates the synchronization performance and transparency of the MCBC. Therefore, synchronization performance improving method for MCBC utilizing an extended dual sampling rate observer (EDSR observer) is proposed in this research. The target motion is modeled as a motion with constant acceleration and the EDSR observer is utilized to estimate the present position of the target. The experimental results indicated that the synchronization performance was improved by 12.2 % in maximum error ratio and 14.8 % in root mean square error ratio. The experimental results indicate an improvement of the target operationality, which suggests the clear tactile sense transmission was achieved.