マイクロテレオペレーションのための可変スケール型バイラテラル制御

抄録

In micro-teleoperation scenarios like micro-surgery or micro-assembly, not only precise motions to handle very small objects but also swift movements over a broad area are required to improve the task efficiency. In this paper, a framework to design a variable-scale teleoperation (VST) system, which enables an operator to adjust both velocity-scale and force-scale in real-time is proposed. Since the VST system is a linear time-varying system and the total system includes uncertain operator and environment dynamics, gain scheduling control and scaled H_∞ control are introduced to guarantee the robust stability and robust performance of the system. In addition, a scale-dependent weighting on control objective is introduced to achieve better performance. A 1-DOF system was built and an experiment was conducted to confirm the stability and performance of the system designed by the proposed framework.