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This paper proposes a workspace bilateral control based on load-side acceleration control of a two-inertia system. In this paper, the control target is a three-degree-of-freedom (3DOF) robot where each joint is modeled as a two-inertia system. Two-inertia system induces resonance vibration with conventional acceleration control. To solve this problem, the proposed method directly controls the load-side acceleration of the two-inertia system. Moreover, joint angles and dynamic torques of each joint are estimated by the position observers and the 3DOF dynamic equations. The effectiveness of the proposed method is confirmed with simulation and experiment.
Igarashi et al. (Wed,) studied this question.