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
相关论文
共 50 条
  • [41] Control of a flexible master-slave manipulator using dual compliance models
    Komatsu, T
    Kanada, T
    ADVANCED ROBOTICS, 1997, 11 (03) : 247 - 267
  • [42] Master-Slave Control for Milling Rotary Tables with Flexible Reduction Stages
    Zirn, O.
    Fink, A.
    2009 8TH INTERNATIONAL SYMPOSIUM ON ADVANCED ELECTROMECHANICAL MOTION SYSTEMS (ELECTROMOTION 2009), 2009, : 190 - +
  • [43] A study on passivity of flexible master-slave manipulators
    Mori, T
    Morita, Y
    Ukai, H
    Kando, H
    SICE 2004 ANNUAL CONFERENCE, VOLS 1-3, 2004, : 2407 - 2410
  • [44] Assist control method for positioning task using master-slave manipulators with flexibility on slave arm
    Morita, Yoshifumi
    Marumo, Hideaki
    Uchida, Masaki
    Mori, Takahiko
    Ukai, Hiroyuki
    Kando, Hisashi
    PROCEEDINGS OF THE 2007 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-3, 2007, : 1430 - 1435
  • [45] Decentralised Master-Slave Control of Intergrids
    Davison, Matthew
    Summers, Terry
    Townsend, Christopher D.
    2018 IEEE 4TH SOUTHERN POWER ELECTRONICS CONFERENCE (SPEC), 2018,
  • [46] A Novel Control Index of Bilateral Control for Master-Slave System with Different Motion Areas
    Yamanouchi, Wataru
    Yajima, Shunsuke
    Katsura, Seiichiro
    2012 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE), 2012, : 1656 - 1661
  • [47] Robust H∞ control for master-slave synchronization of Lur'e systems with time-delay feedback control
    Souza, Fernando O.
    Palhares, Reinaldo M.
    Mendes, Eduardo M. A. M.
    Torres, Leonardo A. B.
    INTERNATIONAL JOURNAL OF BIFURCATION AND CHAOS, 2008, 18 (04): : 1161 - 1173
  • [48] Bilateral Cartesian sliding PID force/position control for tracking in finite time of master-slave systems
    Garcia-Valdovinos, L. G.
    Parra-Vega, V.
    Arteaga, M. A.
    2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12, 2006, 1-12 : 369 - +
  • [49] Master-slave control of a teleoperated anthropomorphic robotic arm with gripping force sensing
    Gupta, Gourab Sen
    Mukhopadhyay, Subhas Chandra
    Messom, Christopher H.
    Demidenko, Serge N.
    IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, 2006, 55 (06) : 2136 - 2145
  • [50] Mobile Robotic Control System Based on Master-Slave Teleoperate Mechanical Arm
    Chao, Yan Kai
    Zhou, Yong Fei
    Xu, Yu Lin
    2013 25TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2013, : 3195 - 3198
12345