Abstract
Bilateral control is one of the teleoperation method that provides haptic feedback necessary to ensure safety and versatility of robots. Most of the conventional approaches assume an electric motor as the actuator, which limits the scope of application. The purpose of this paper is to construct a bilateral control system with the master as an electric motor and the slave as a hydraulic actuator, and to achieve stable control and improved performance. The hydraulic actuator is constructed to allow differential pressure control, and modeled to achieve same control scheme an electric motor. In addition, this paper proposes a method to identify and compensate the characteristics of hydraulic actuators as a friction model in order to improve the accuracy of sensorless force estimation. Furthermore, 4ch bilateral control based on oblique coordinate control is used to realize teleoperation. In the experiments, friction identification experiment is conducted to confirm the validity of the proposed friction model. The performance of the constructed teleoperation system is evaluated by bilateral control experiment.
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