To execute teleoperation more effectively, the force reflecting control algorithm is essential to transfer force vividly from remote area. Also, an operator wants to move a master arm freely with less fatigue. However, the operator cannot feel well the small amount of force transferred from the slave arm due to the friction and the moment of inertia of the master arm when the operator moves the master arm.
This thesis proposes an force reflecting control algorithm that compensates the friction and the moment of inertia so that the operator can feel the small force transferred from the slave arm. The performance of this algorithm has been confirmed by simulation and experiment. This algorithm has been tested with to the 6-degree-of-freedom force reflecting hand controller using 5-bar parallel mechanism that was developed in our laboratory.
The effect of gravity compensation, friction compensation, inertia compensation, and the bilateral force-position servo scheme has been shown adding each compensation loop to the basic master controller step-by-step.