制御ゲインスケーリングを考慮したミクロマクロバイラテラル制御

抄録

In micro-macro bilateral control systems, it is important to use position and force scaling factors that depend on the size of the master and slave system. Moreover, it is vital for control systems to use appropriate control gains depending on the scaling ratio between master and slave response. This paper proposes a micro-macro bilateral control system based on the scaling of control gains. In this system, the control gains of the master and slave system are adjusted to appropriate values by using control gain scaling factors. These scaling factors are obtained by designing a micro-macro bilateral control system to achieve ideal reproducibility. To verify the validity of the proposed system, analytical results for the reproducibility, operationality, and stability of the proposed control system are presented in this paper. Moreover, the proposed system is used in an experimental micro-macro bilateral system, and the results are presented.