An analysis of static output feedback control for tendon driven master-slave manipulator — Simulation study

In this work, a bilateral control for a master-slave manipulator system which will be used for handling objects contaminated by radioactivity has been addressed. The links of manipulators are driven independently by individual motors installed on the base and the driving torque is transmitted through pre-tensioned tendons. The measurable variables are the positions and rates of master/slave motors. In the consideration of the flexibility of the power transmission tendon and available measurements for control, we proposed an optimal static output feedback control for possible bilateral control architecture. The system model is reduced to guarantee the controllability and observability which are necessity for the static output feedback control by using modal analysis. Based on the reduced model, the control gains are determined to attenuate vibration in the sense of optimality. The feasibility of the proposed control design was verified along with some simulation results.