This paper presents a newly developed bilateral controller of a flexible master-slave manipulator (FMSM) system. A FMSM consists of a conventional compact rigid master arm and a flexible slave arm, and will be used in outer space and in the construction field in the future. There are two problems in controlling a FMSM. One is the vibration of a flexible link. The other is the deformation of a flexible link when a slave link contacts with an object. The proposed controller is effective in restraining the vibration of a flexible link and in protection from adding too much force to a flexible link. For this purpose, the key idea of the proposed method is that this controller has dual compliance models, and the design is done for each model considering the elasticity of a master and a slave arm. Each arm moves along the desired path which was calculated in this model. Also, a slave controller has a vibration controller. As the initial study, a 1 d.o.f. system was considered. The effectiveness of the proposed method was shown with simulations and experiments.
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