A controller design method of bilateral control system

Haptic sense is indispensable for skillful operation in a telerobotic system. Bilateral control attracts considerable interest because it transfers the haptic sense to a remote place. Although it is simply composed of two manipulators, its design is complicated. This study proposes an idea that provides a new framework on design of a bilateral control system. The idea is to design the bilateral control system based on a 'function", a minimum component of a system role. It enables simple and explicit design for various tasks. The features of the proposed method provide away to design an adjustable system. Experimental results show the validity of the proposed method.