This study propose the controller design method for bilateral teleoperation system. The controller design method is focused to carry out the given task well. For the satisfaction of the focus, this study induce Target Oriented Design (TOD), design method based on objective oriented approach.
Proposed controller design method is composed 4 processes, task analysis, arm analysis, control design, implement. To use task and arm analysis information, more suitable control parameters are obtained. And control design is achieved to consider transparency and stability. Finally the given task is implemented as the controller for using the design method.
In the teleoperation controller, 2 main elements exist to carry out the given task well. First, causality, causality analysis is very important to implement the stability and transparency, the main performances of teleoperation controller. Second, scale factor, scale factor is also important to implement the given task. In this study, the design method was made the deep analysis of the causality and scale factor.
The experiment results show that the controller for using this method works well. Especially real task implement experiment results show the method is verified experimentally to design the controller of bilateral teleoperation system.
In conclusion, the method is good to use really and systematic. And the controller for using the method is stable, transparency and possible to carry out the given task.
