An analysis of a novel master-slave control and its application to MDOF motion systems

Abstract

This paper describes a master-slave control by force feedback based virtual impedance controller. In proposed method, human operator can design “Operationality” arbitrarily by changing the impedance model. This is one of the remarkable points. And more, motion commands of master and slave are generated by the minimum feedback information in proposed method. To verify the validity of proposed method, the performance of the controller is analyzed and evaluated by using “Reproducibility” and “Operationality”. Furthermore, proposed controller and 4ch bilateral controller are compared experimentally and the validation is conducted with 1-DOF and 2-DOF manipulator.