Finishing processes such as deburring are performed on a wide variety of products in various quantities by workers on a piece-by-piece basis. Accordingly, the accuracy of the product depends on the worker’s skill. The aim of this research is to develop a finish machining support system. The machining is supported by using a haptic device and controlled by a bilateral control system. Here, we propose a original bilateral controller which have the gain components on the line used to transfer the force signal between master and slave robot. These gains change the binding force between master and slave robot to change the construct of the system. The effectiveness of this system is shown in simulations using haptic device and virtual model of slave robot.

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