バイラテラル制御における周波数修正法の有効性検証

抄録

For operability improvement, this paper proposes a frequency modification method using fast Fourier transform (FFT) in a bilateral control. A bilateral control is one of the remote control methods with tactile sensation. The bilateral control system consists of the leader and follower systems. By using FFT, the position response and estimated force in the leader and follower systems are converted from the time domain to the frequency domain. In the frequency domain, frequency modification is conducted. After the frequency modification, the frequency domain data is reconverted to the time domain by using inverse FFT. Therefore, the proposed method enables frequency modification that is easy for the operator to manipuate in the bilateral control. For the confirmation of the validity of the proposed method, the experiments that imitate drilling tasks were conducted.