The realization of a new communication medium that realizes the transmission of haptic information between distant places is required. A bilateral control system is an effective technique that can share tactile sensation between two systems. However, the performance of the bilateral control tends to destabilize, and the haptic information deteriorates under a communication delay because haptic information has the bilateral information flow property. This is because the control goals cannot be achieved in real time owing to the delay time. Therefore, a novel method is proposed to realize simultaneity in a bilateral control system under a communication delay. The proposed control system is designed to realize the control goal equations for bilateral control regardless of the delay time and is designed symmetrically. Buffering the force information of the system resolves the interference between the modal space caused by the communication delay. The entire control system is stabilized by using a phase-lag compensator that has the equivalent meaning of acceleration response feedback with a high pass filter. The validity of the proposed method is confirmed by experiments.
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