Modal Space Control of Bilateral System with Elasticity for Stable Contact Motion

Bilateral control realizes position synchronization and the “law of action reaction” between two points. To advance applications bilateral control, it is necessary to emphasize environmental adaptability, safety, task execution. Accordingly, system required consider contact with unknown environments realize stable avoid harm operator or object. Thus, a using elastic manipulators proposed in this paper. Moreover, integration mechanical designs for interaction environment discussed. The elasticity modeled as pair two-mass resonant systems. modal space (MSC) introduced aim realizing goals, vibration suppression, good operationality. Modal transformation independently configures force controllers each other virtual common differential spaces. MSC comprises reaction torque feedback loops load-side disturbance observer (MLOB). MLOB compensates disturbance, including interference modes. It decoupling nominalization parameters form suitable system.