A Novel Bilateral Control of Leader Follower Robots Based on Virtual Impedance Method
Kiyoshi Nagai, Nana Ishigami · 2024
The ideal response in leader follower systems is that the position and force responses coincide between the leader and follower robots. To achieve this ideal response, methods have been proposed to make the robot’s characteristics desirable through control, but the existence of the robot’s own inertia may prevent the ideal response from being achieved. This paper proposes a control law in which the absolute and relative motion behaviour of the leader follower system is specified by considering the dynamics of the system, so that the position and force responses are matched without the need for excessive driving force.