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

2025-10-12

AI Summary

In four-channel bilateral teleoperation under Cartesian coordinates, scaling factors induce dimensional coupling among motion axes. To address this, this paper proposes a dynamics decoupling control method based on rotation matrices: real-time coordinate transformation maps the six-degree-of-freedom manipulator’s force/position signals onto decoupled Cartesian axes; impedance control and synchronous feedback are then integrated to enable independent dynamic regulation along each axis—regardless of scaling factor magnitude. The approach is model-agnostic, requiring no prior knowledge of manipulator-specific parameters, thereby significantly enhancing compatibility across heterogeneous robotic platforms. Experimental results demonstrate precise preservation of force-feedback fidelity and motion synchronization during contact-intensive tasks, leading to improved teleoperation intuitiveness, stability, and overall human–robot interaction performance.

Technology Category

• Intelligent Robots: Manipulation
• Planning, Routing, and Scheduling: Mixed Discrete/Continuous Planning
• Humans and AI: Planning and Decision Support for Human-Machine Teams

Application Category

• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Economics, Online Markets and Human Computation: Incentives in network design for Web infrastructures and ecosystems
• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs

Abstract

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. This is expected to significantly improve the operability of the remote control in contact-rich tasks. Among these, 4-channel bilateral control on the Cartesian coordinate system is advantageous owing to its suitability for manipulators with different structures and because it allows the dynamics in the Cartesian coordinate system to be adjusted by adjusting the control parameters, thus achieving intuitive operability for humans. This paper proposes a 4-channel bilateral control method that achieves the desired dynamics by decoupling each dimension in the Cartesian coordinate system regardless of the scaling factor.

Problem

• Decouples Cartesian dimensions under scaling factors
• Achieves desired dynamics in bilateral control
• Enhances intuitive operability for contact-rich tasks

Innovation

• Decoupled scaling for bilateral control in Cartesian coordinates
• Six-DoF manipulator using rotation matrix implementation
• Dimension-independent dynamics adjustment with scaling factors