Methods for Reducing Operational Forces in Force-Sensorless Bilateral Control with Thrust Wires for Two-Degree-of-Freedom Remote Robots

  • T. Sato
  • S. Sakaino
  • T. Yakoh
Part of the Advances in Intelligent and Soft Computing book series (AINSC, volume 99)


In this study, a bilateral control system for two-degree-of-freedom (two-DOF) remote robots that are capable of grasping and manipulating motion is considered. The purpose of this research is to achieve force-sensor-less bilateral control with thrust wires for two-DOF systems with small operational forces. Small operational forces in remote robot systems are suitable for several applications. In conventional research, methods for reducing the operational forces in one-DOF systems with thrust wires were proposed. In this study, this method is applied to a two-DOF system. Furthermore, a method for further reduction of operational forces is proposed in which force transforms of both local and modal space are implemented. By considering modal space in the two-DOF system, the operational forces can be reduced further. The validity of the proposed method is confirmed using experiments.


Reaction Force Force Sensor Force Response Position Response Modal Space 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • T. Sato
    • 1
  • S. Sakaino
    • 1
  • T. Yakoh
    • 1
  1. 1.Department of System Design EngineeringKeio UniversityYokohama-shiJapan

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