Bilateral Servo Mechanisms via Adaptive Control.

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  • 適応制御を用いたバイラテラルサーボ機構
  • テキオウ セイギョ オ モチイタ バイラテラルサーボ キコウ

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Abstract

Bilateral servo systems are useful on remote control manipulators because operators can defend objects against damages by reaction force feeling. In this study an adaptive control method is introduced on a slave manipulator with unknown dynamic parameters on the basis of the bilateral servo system including force error compensation method. This system is stable by means of Liapunov stability theorem. This method is confirmed to be effective on the basis of simulation and experimental results.

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