Bilateral control of master-slave systems with different scaling

Bilateral control is one of control methods used to achieve haptic teleoperation between remote places. If the bilateral system is utilized for small or large environments such as those in brain surgery and space development, it is necessary that the system takes into account scaling factors between the master and slave. In this paper, we propose the bilateral control of master-slave system with different scaling on the basis of reproducibility and operationality which are one of the evaluation indices of bilateral control system. The proposed control system contains two kinds of scaling factors. One of them is scaling factors of position and force responses that are used to determine the scaling ratio between the master and the slave. The other one is used to adjust the control gains at the master and the slave, respectively. In this paper, some scaling types depending on the nominal masses of the systems are proposed. In order to compare the scaling methods, the analysis results of the proposed method on reproducibility and operationality are shown. Moreover experimental results confirm the validity of the proposed method.