A design method of scaling bilateral control with drift

In this paper, a scaling bilateral control method with drift is proposed. The control targets of the general bilateral control are simply defined as the each position difference and the each force sum. On the other hand, the different control targets are defined in scaling bilateral control. In the proposed method, by introducing the drift function, the form of these control targets are unified. Then, the precision of position control is improved. In addition, the proposed one enables to realize some complex scaling bilateral control methods. In this paper, the proposed one is applied to micro-macro bilateral control and dimensional scaling bilateral control. When the proposed one is not utilized, the form of the these control targets are defined differently. Therefore, according to scaling bilateral control, the controllers need to be designed one by one. Utilizing the proposed one, the drift function only needs to be derived with the same controllers. In the experiments, it validated that the proposed one could be implemented. Moreover, it also validated that the precision of position control was improved with the proposed one.