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This paper proposes a new friction free bilateral system based on twin drive control system considering it’s resonant frequency. The twin drive system consists of two motors that are coupled by the differential gear. The output torque becomes a differential torque of both motors. The nonlinear friction torque of the twin drive system is easily compensated. However, this system has the resonant frequencies and the anti-resonant frequencies which are caused by the torsional vibration. This paper proposes a new three-inertial-model of twin drive system, and identifies the resonant frequencies and it’s friction torque. The proposed controller can suppress the torsional vibration without high order control design. Therefore, the operationality of bilateral teleoperation is improved by the proposed system. Fig. 1 shows the proposed vibration suppression control system. Fig. 2 show the experimental results of the proposed force-reflecting type bilateral system. Fig. 2(a) is result without vibration suppression control. Fig. 2(b) is result of two mass designed vibration suppression controller. And Fig. 2(c) is result of three mass designed vibration suppression controller with two mass observer. The conventional control method has vibration phenomenon. However, the proposed control method has no vibration phenomenon in comparison with the control method without vibration suppression control loop. From Fig. 2, the experimental results confirm that the can proposed vibration suppression control system suppresses the torsional vibration, without reducing the bandwidth of the system.

Friction Free Force-Reflecting Type Bilateral Control Based on Twin Drive System Considering 2nd Resonant Frequency and Unbalance Friction