Position constrained bilateral control by oblique coordinate control considering priority of tasks

This paper proposes two position constrained bilateral controllers. The constraint is given by coordinate transformation and additional compensator or command modification methods are not necessary. The constraint therefore does not destabilize the system and maintains linearity. The difference between the two proposed methods is the task priority. The first ensures slave position limitation and force regulation between two robots, the other ensures position limitation and position regulation between the robots. We analyzed the stability of the proposed controller. The validity of the proposed methods was confirmed experimentally.