Gravity compensation for improvement of operationarity in bilateral teleoperation

When works are done with the master–slave system that is one of the remote-controlled systems, the accurate environmental information is necessary to accomplish work safely and precisely in the remote place. Up to now, to transmit the accurate information of position and force in master–slave system, a lot of researches about bilateral control have been investigated. However, operationality is low until the disturbance caused by gravity and friction are compensated, even if it becomes possible to transmit position and force information correctly. As a result, accurate reproducing of tactile sense is impossible. So, it is necessary to improve operationality in order to be able to recognize the environment more accurately.