Bilateral Control of Nonlinear Flexible Master-Slave Arm with Time Delay

被引：0
|
作者：
Yagi, M. [1 ]
Hayashi, A. [1 ]
Sawada, Y. [1 ]
Kimura, H. [1 ]
机构：
[1] Kyoto Inst Technol, Dept Mech & Syst Engn, Kyoto 6068585, Japan
来源：
2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE) | 2012年
关键词：
Flexible arm; Bilateral control; Time delay; Master-slave arm; Lyapunov function; Nonlinear system; STABILITY;
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
This paper presents stability analysis of bilateral control for nonlinear single-link flexible master-slave arms with constant time delay. The considered system consists of a rigid master-arm and a single-link flexible slave-arm which are connected over the communication netwrok with constant time delay. In our previous work, the flexible arm is modeled as a linear system. In this paper, the mathematical model of the flexible arm is described by a nonlinear dynamics. The PDS (proportional, derivative and strain feedback) based control law for our nonlinear flexible master-slave arm is bilateral control is demonstrated by several numerical results.
引用
收藏
页码：518 / 523
页数：6
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