关键词：加速度控制;双向控制系统;通信延迟;同时性;模态空间;
摘 要：A realization of new communication media which realizes transmission of haptic information between distant places is required. Bilateral control system is an effective technique which can share tactile sensation between two systems. However the performance of the bilateral control tends to destabilize and the haptic information deteriorates under communication delay because haptic information has the bilateral informational flow property. Therefore, this paper proposes a novel method to realize simultaneity in bilateral control system under communication delay. The proposed control system is designed to realize the control goal equations for bilateral control regardless of the delay time and is designed symmetrically. Buffering the force information of the own system solves the interference between the modal space caused by the communication delay. The whole control system is stabilized by using the phase lag compensator which has the equivalent meaning of acceleration response feedback with high pass filter. The validity of the proposed method is confirmed by experiments.