Development of a Bilateral Support System with Force Input Deflecting Construction

Finishing processes are performed by workers on a piece-by-piece basis. Accordingly, the accuracy of the product depends on the worker's skill. The aim of this research is to develop a machining support system via bilateral control system which accepts various machining theories and reflects the operation force into the machining geometry. Here, we propose a new bilateral controller for machining support which has an original component, FID coefficient for changing the connecting force between master and slave robot dynamically. The effectiveness of this system is shown in simulations and experimental result with press motion.