PDS Based Bilateral Control System of Flexi- ble Master-Slave Arms with Random Delay Using Kalman Filter

摘要

In this paper, a PDS (Proportional-Derivative-Strain) based bilateral control system for flexible master-slave arms with random delay is discussed. The proposed PDS based bilateral control system consists of a rigid master and flexible slave arms. The flexible slave arm is actuated by a high-geared servomotor. Furthermore, the communication network which causes random delay connects both arms. The random delay is defined as the sum of the average time delay and a white Gaussian noise. A Kalman filter is designed to estimate the signals affected by the random delay. The controllers for the rigid master arm and the flexible slave arm are designed as the PD- and PDS-controllers, respectively. Numerical simulations are accompnsned to confirm the performance of the proposed Kalman filter for the proposed PDS based bilateral control system.