Frequency response based analysis and designing of bilateral control system

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.