A method of scaling bilateral control system with time delay in terms of modal space

This paper proposes a method of scaling bilateral control in the presence of time delay in terms of modal space. The bilateral control is characterized by a remote control, which return force information to the local site. Also, the bilateral control enable us to achieve dexterous tasks such as microsurgery by scaling the force/position response freely. However, bilateral control system has a problem, which is time delay, because interference between position and force control occurs and it degrades the performance and stability of the control system. In the time-delayed bilateral control, the force/position response conflict with each other, so it has been impossible to scale the force/position response separately. Hence, in this paper the control goals in bilateral control system under time delay is set to decouple force/position control. Moreover, the control goals enable us to scale force/position response in bilateral control system. The effectiveness of the proposed method is validated experimentally.