Research on Bilateral Control with Frequency Modifications by using Fast Fourier Transformation

This paper proposes a bilateral control with frequency modifications by using fast Fourier transformation (FFT). A bilateral control is one of the remote control methods with a tactile sensation. A bilateral control system consists of the leader system that is manipulated by the operator and the follower system that is in contact with a remote environment. FFT is known as a signal processing method for analyzing the frequency characteristics. FFT is also used for the mutual conversion between the time domain data and the frequency domain data. This paper uses FFT for bilateral control. The position and estimated force information in the leader and the follower systems are converted from the time domain to the frequency domain. For these frequency domain data, frequency modification is conducted. After the frequency modification, the time domain data is produced by using inverse FFT. This paper places four frequency modifications before the controllers in bilateral control. By the frequency modifications, the position and estimated force values in the leader and the follower systems are modified in real-time. By using the bilateral control with the frequency modifications, it is expected that the operability is improved. The effectiveness of the proposed method was confirmed from the simulation results.