An approach to evaluation index-based gain scheduling for acceleration-based four-channel bilateral control

Teleoperation is one of the technologies for supporting operators, and its development is strongly demanded. Acceleration-based four-channel Bilateral Control (ABC) is known as a method of teleoperation and achieves highly precise impedance transmission. The gain scheduling for bilateral contrai has basically been focused on the stability by the model-based approach. However, describing the contact motion and precise identification of some nonlinear terms are sometimes highly difficult. Moreover, the gain parameters between the master and slave tend to be set the same although the transfer function of them are different. Therefore, this paper considers the gain setting from the perspective of precise impedance transmission and proposes the evaluation index-based gain scheduling for A B C by using the experimental data. This paper also discusses the designing of gradient-descent algorithm for an actual gain setting by taking the obtained knowledge from evaluation index-based gain scheduling into consideration. The effectiveness of proposed gain scheduling and gain tuning methods were verified through experiments.