Research on Estimation Method for Dynamic Characteristics of Micro Objects Using Micro-Macro Bilateral Control

In recent years, measurement of physical properties such as dynamic characteristics of micro objects is required in industrial and medical fields. However, measurement of dynamic characteristics such as stiffness, viscosity, and mass for micro objects has not been widely studied. Moreover, contacting the objects by manipulators was performed without force feedback in the conventional methods. Therefore, there is a possibility of damaging the micro objects. To address these problems, this paper proposes an estimation method for the dynamic characteristics of the micro objects using micro-macro bilateral control. The micro-macro bilateral system allows the operator to perform the micromanipulation of the objects safely. From position, velocity, acceleration, and force information obtained by grasping, the dynamic characteristics are estimated by the recursive least squares (RLS) algorithm. As a result, the characteristics such as the stiffness, the viscosity, and the mass of the micro objects are obtained based on the micro-macro bilateral control. The validity of the proposed method was confirmed by the experimental results.