Abstract:
Bilateral control is one of the high-tech control
technologies available in transmitting haptics information from
one point to another point successfully. In past few years, a fair
amount of researches has been carried out with different
control strategies, hence bilateral control has been
implemented practically in various fields recently. In most of
the practical scenarios, time delays, chattering effects and
unwanted vibrations lead to deficiencies and inaccuracies
which badly affect to the successful implementation of a
bilateral control system. Although many researches were
carried out to compensate the time delays and chattering
effects, eliminating unwanted vibration of a bilateral control
has never been discussed. In this study, a method has been
proposed to design a bilateral control system which works
finely in a particular frequency band. In order to achieve the
target, a frequency response analysis to a conventional
bilateral control system is carried out showing the effect of
system parameters to its operationality, and frequency band is
determined for a particular set of system parameters. Finally,
the validity of the proposed method is demonstrated through
simulation.
