Motion Synchronization for Bilateral Control Systems

This paper describes motion synchronization as essential problem in bilateral control systems. The proposed motion synchronization method is defined as a constrained motion in which generalized control errors are function of position and velocity of synchronized systems. Transformation from operation to configuration space is applied to define the generalized error such that it constraints the output of closed loop system by desired dynamics. Local controllers are implemented to ensure the stability of the system and enforce desired convergence rate with short time response. The obtained results prove fast response and fully synchronized motion control. The application of the proposed system is described in detail and evaluated by simulation and experiments. The experimental results will serve as a basis for the next stage of research, which is Cyber Physical Systems and teleoperations.