Bilateral control considering singularity based on observation of torque error

Recently, there are many researches of a system which has implemented a bilateral control system which can touch an environment in distant place. However, a singular configuration due to the inverse Jacobian matrix becomes the problem in a bilateral control with different configurations. In this paper, the problem of a singular configuration regarding the inverse Jacobian matrix is avoided by singularity-consistent method. In addition, an error observation method of a torque regarding the singularity-consistent method is proposed. And, the bilateral control system consists of a parallel link manipulator and a serial link manipulator. When the direct kinematics of the parallel link manipulator is derived, mode decoupling method is introduced. Finally, proposed method and sc method are applied to the bilateral control system with different configurations, its system is realized and the error of the torque due to singularity-consistent method is observed. The experimental results of the bilateral control with different configurations are shown.