Macro-micro bilateral teleoperation based on operational force feedforward-operational force feedforward bilateral teleoperation and its dexterity

A bilateral control system for scaled teleoperation provides the human operator with a feel of the task as well as the teleoperation between same-scale worlds. A maneuverability of the teleoperation system depends on the bilateral control scheme. This paper, first, reviews several bilateral control schemes for the scaled teleoperation, which have already been developed, and points out its dexterity issue of teleoperation. From these reviews with considering physical meaning of bilateral controllers, secondly, this paper proposes a novel bilateral control scheme that realizes macro-micro teleoperation with natural force feedback sensation. An idea of control scheme is come by taking notice that the system parameter values of master site and those of slave site are different. This control scheme is based on operational force feedforward type bilateral control with scaling gains. We also study the operational feeling of the proposed control scheme and compare with several bilateral control schemes in theory. Finally, we present experimental results that verify the validity of the proposed control scheme.