Modified bilateral control by using intervention impedance based on passivity of flexible master-slave manipulators and its design methods

摘要

Recently, study on a control of flexible manipulators have been receiving increasing attension in the domain of master-slave system. The master-slave system is a control system to operate a manipulator for objects in a remote environment which is at a distance from the presence of a human operator. In order to consider the influence by the elasticity of flexible manipulators, it is necessary to study on the control of vibration of flexible master-slave manipulators and the passivity. Thus in this paper, we discuss about a new modified bilateral controller considering the elasticity by using intervention impedance in basis on the passivity and a control performance of the system. This paper is organized in the following way : First, we introduce mechanical models of manipulators. Second, we propose bilateral controls by using intervention impedance based on passivity. Third, we transeform each models represented by time domain into models represented by s-plain, find the scattering matrix, and prove the passivity of system. Fourth, we propose a new modified controller controller for the purpose of realizaion. Lastly, we show some results of experiments in order to verify the usefulness of proposed controller.