Bilateral Control of Master-Slave Arms with High-Geared Servomotor-Actuated Flexible Slave Arm with Time-Varying Delay

摘要

This paper discusses the bilateral control of flexible master-slave arms actuated by a high-geared servomotor with time-varying delays. This system consists of a rigid master arm and a flexible slave arm, which are connected by a communication network that has time-varying transmission delays. The flexible slave arm is controlled by a proportional-derivative-strain feedback controller realized by a high-geared servomotor for reducing undesirable vibration and controlling rotational position. On the other hand, a proportional-derivative controller is employed for generating reaction torque for the rigid master arm. The stability and passivity of the proposed system are proved using Lyapunov stability theory. To confirm the performance, numerical simulations and experimental studies were demonstrated.