High-performance force control based on virtual bilateral control structure

Takami Miyagi, Seiichiro Katsura

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


This paper proposes a new force control based on a bilateral control structure. Improvements in motion control technology, including force control, are important to realizing a human support robotic system. Conventionally, robot systems require high-precision positioning accuracy. In the near future, however, robots will need to be involved in human society directly. In this case, force control with high precision is an essential part of robot system control. For a complex system, raising the controller gain and bandwidth is not easy. In the proposed system, a virtual position control loop is constructed in a conventional force control to assist with ideal acceleration control. With the proposed system, high-accuracy force control and a control band can be achieved with superior performance compared to conventional systems.

Original languageEnglish
Pages (from-to)83-90
Number of pages8
JournalIEEJ Journal of Industry Applications
Issue number2
Publication statusPublished - 2015


  • Acceleration control
  • Bilateral control
  • Force control
  • Motion control
  • Virtual system

ASJC Scopus subject areas

  • Automotive Engineering
  • Energy Engineering and Power Technology
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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