Bilateral Control Using Linear Motors: Toward Wide-Bandwidth Control with Wide Moving Range by Two-Stage Mechanism

Abstract

This paper proposes a method of constructing a control system with a wide range of motion and wide bandwidth by using a two-stage mechanism equipped with a one-degree-of-freedom linear actuator, which has a narrow range of motion but can be controlled in a wide bandwidth, at the end of a general-purpose manipulator. Furthermore, a haptic interface based on variable impedance control is realized as an application of the proposed method, and its performance is evaluated. Specifically, a variable impedance control system whose characteristics change in response to orthogonal displacement was constructed by taking advantage of the fact that the manipulator can move in a direction orthogonal to the direction of movement of the two-stage mechanism.