关键词：加速度控制；双向控制系统；通信延迟
摘 要：The paper proposes a method to reduce operational force in a bilateral teleoperation system that realizes simultaneity property under communication delay. A bilateral control that realizes simultaneity property is previously proposed, which is achieved by buffering the force information. It focused on the fact that force information from the master motor is the pure information that actuates the motor, therefore, timing of the force information input is corrected. However, the control system requires large force when operator tries to operate the system. The paper clears the reason and the problem is solved by utilizing the delayed position information of the own system. The proposed control system is designed to mix present and buffered position information to reduce the operational force. The delayed information can easily affect the stability problem, therefore, phase compensator is used. The validity of the proposed method is confirmed by experiments.