Performance enhancement of bilateral control with different control performances

Bilateral control that can render a mechanical impedance of remote object has recently been researched. However, most of the researches assume that master and slave systems of bilateral control have enough bandwidth for transmitting generated torque to an end effector. In practical situation, there might be cases in which mechanically fine systems cannot be utilized. This research discusses a bilateral control in which master side of systems has low control performance. In order to compensate for the interference of position responses with force control caused by the difference of the performances, disturbance observer is constructed in common modal space of bilateral control system. The device characteristics are considered in actual compensation so that the compensation itself does not become the new interference term. The performance enhancement of haptic system relating to contact motion will be shown by simulations and experiments.