A novel viewpoint in bilateral control system with time delay aiming for clear control goals

This paper proposes a novel viewpoint of the bilateral control with time delay in terms of modal space and the control method to track position and return force information from the slave to the master well. The bilateral control is characterized by a remote control, which return force information to the local site. Time delay is one of the problems of the bilateral control system, because it degrades the performance and stability of the control system. Various methods for the problems about time delay have been proposed. However, in these methods, the control goals in bilateral control in the presence of time delay have been not taken into account clearly or been not set properly. Therefore, this paper sets novel control goals of bilateral control with time delay in terms of modal space and the control method in which the slave position tracks the master position and the slave's force return to the master well. The validity of the proposed method is demonstrated experimentally.