Force Control of Bilateral Leader-Follower Arm Using Model-Following Control

Research areas:

• Volume 10,Issue 6, May 2022

Year:

2022

Type of Publication:

Article

Keywords:

Leader-Follower, Model-Following Control, Bilateral Control, Force Control, Telexistence

Authors:

Hiroaki Yoshida

Journal:

IJAIM

Volume:

10

Number:

6

Pages:

64-74

Month:

May

ISSN:

2320-5121

Abstract:

Operators can easily control robots using leader-follower systems, but simple robotic leader-follower systems cannot provide their operators with force control, which is required for delicate follower arm operations. In response to this problem, we developed a new control rule for bilateral leader-follower systems and herein present a study of force control in a bilateral leader-follower system that can transmit positions and force between the operator and follower arm using model-following control. More specifically, model-following control is used both to suppress the influence of the leader device dynamic characteristics and to direct the follower to follow the leader. This leader-follower system is designed to match the leader arm’s equation of motion to the reference force control model. The resulting leader-follower system’s ability to reduce the leader device’s dynamic characteristics makes it possible to design a bilateral leader-follower system control rule. Furthermore, the control rule of the bilateral leader-follower system can be easily derived by using error dynamics. This paper shows how the bilateral leader-follower system control rule is designed using model-following control, after which its effectiveness is confirmed via simulation, and experimental results of the system’s static and dynamic characteristics are shown.

Full text: IJAIM_655_FINAL.pdf