S.H. Ahn, H.S. Jung, Y.K. Kim, and H.R. Kim (Korea)
Compliance control, bilateral control, master-slave system,
A compliance control scheme is proposed for the position
referenced bilateral control system. A position difference
between the master system and the slave system is treated
as an equivalent contact force and used for an input to the
compliance controller. The compliance controller is
implemented by a first order low pass filter and it
modifies the position of the master to the reference
position. Thus the compliance control task is shared by
both the human operator’s direct manual control and the
autonomous compliance control of the slave system.
Consequently, the position of a slave system tracks well
the reference position and the compliance of the slave
system is autonomously controlled in a contact condition.
The simulation results show the excellence of the