Nonlinear Bilateral Teleoperation with Flexible-Link Slave Manipulator

被引：0

作者：

Rashidinejad, A. ^{[1
]}

Nikravesh, S. K. Y. ^{[1
]}

Talebi, H. A. ^{[1
]}

机构：

[1] Amirkabir Univ Technol, Dept Elect Engn, Ctr Excellence Control & Robot, Tehran 15914, Iran

来源：

2015 3RD RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM) | 2015年

关键词：

Bilateral teleoperation; flexible-link manipulator; output redefinition; stability; uncertainty; DISTURBANCE OBSERVER;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper addresses bilateral control of a nonlinear teleoperation system with flexible-link slave manipulator. For this purpose, due to the non-minimum phase behavior of flexible-link manipulators, tip position tracking of the slave manipulator is performed based on the output redefinition method. Moreover, to compensate the uncertainties, a robustifying term is considered in the controller. However, disturbances exerted on the master robot are estimated via a nonlinear disturbance observer. Then, the master force controller is designed based on the estimated value and environmental force feedback from the slave part.

引用

页码：284 / 289

页数：6

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