Hybrid Control of Position and Force for Bilateral System

Remote control operation system has been used for an operation at dangerous area or as a medical robot system. Though it has an ability to reproduce an operator's motion at remote place, it cannot transfer the sensed force to the operator. Bilateral control is a method for remote control operation system to transmit the force sense. Although various bilateral control architectures have been studied, it is difficult to realize its ideal responses. One of the difficulties is the adaptation to the open environment with contact or noncontact motions. This paper proposes hybrid controller in the same direction, which can change the impedance with its selection ratios. In addition, an approach to acquire environmental information in the form of the selection ratios is described. The proposed bilateral system obtains an adaptation to the open environment and realizes ideal responses. The effectiveness of the proposed system is confirmed by experiments.