A layered autonomous control method for master slave robot hand with communication delay

A novel control method for master slave system with communication delay is proposed. This control method consists of an improved unilateral controller and autonomous controllers and suppressors. The improved unilateral controller switches a control method according to a contact state. When the slave is not in contact with an object, the improved unilateral controller is a position controller. When the slave is in contact with an object, the improved unilateral controller is a force controller. And a controller sends a information of contact to the master. Autonomous controllers and suppressors are placed in a master side and a slave side. A slave autonomous controller controls a fingertip force to avoid a slipping. A master autonomous controller predicts and controls a reaction force. A slave suppressor coordinates outputs of a slave autonomic controller and unilateral controller. A master suppressor coordinates a predict contact position and a real contact position. To validate this control method, we constructed a master slave system. And validity of this control . method is confirmed by some master slave experiments.