A Compliance Control for Position Referenced Bilateral Control Systems

S.H. Ahn, H.S. Jung, Y.K. Kim, and H.R. Kim (Korea)


Compliance control, bilateral control, master-slave system, and teleoperation


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 proposed scheme.

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