Decoupled Scaling 4ch Bilateral Control on the Cartesian coordinate by 6-DoF Manipulator using Rotation Matrix

Four-channel bilateral control is a method for achieving remote control with force feedback and adjustment operability by synchronizing the positions and forces of two manipulators. It is expected to significantly improve the operability of remote control for contact-rich tasks, and in recent years, it has also been used as a data collection method in imitation learning. Among these, the 4-channel bilateral control on the Cartesian coordinate system is advantageous in that it can be used for manipulators with different structures and that the dynamics in the Cartesian coordinate system can be adjusted by adjusting the control parameters, thus achieving intuitive operability for humans. However, achieving high operability by controlling a Cartesian coordinate system remains challenging. In the case of joint space control, all complex interactions between joints are treated as unknown disturbances, and a certain degree of control can be achieved by combining a linear control system with a classical single-input single-output (SISO) system. However, when designing a control system in the Cartesian coordinate system, the position and posture of the manipulator's end-effector are expressed in a three-dimensional special Euclidean group (SE(3)), which has different properties from the vector spaces commonly used in traditional control methods, such as noncommutativity and the fact that addition is not defined. Therefore, it is not possible to use classical control design methods that assume vector spaces as they are. It is possible to approximate the vector space and perform control based on the assumption that the posi-a) Correspondence to: yamane.koki.td@alumni.tsukuba.ac.jp