Control of Master-Slave Manipulator Based on Virtual Internal Model
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- FURUTA Katsuhisa
- Faculty of Engineering, Tokyo Institute of Technology
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- KOSUGE Kazuhiro
- Faculty of Engineering, Tokyo Institute of Technology
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- SHIOTE Yoshinori
- Production Engineering Center, Yamatake-Honeywell Co., Ltd.
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- HATANO Hiromu
- Production Engineering Center, Yamatake-Honeywell Co., Ltd.
Bibliographic Information
- Other Title
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- 仮想内部モデルに基づくマスタスレイブマニピュレータの制御
- カソウ ナイブ モデル ニ モトズク マスタスレイブ マニピュレータ ノ セイ
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Description
This paper presents an alternative control architecture of master-slave manipulators based on the concept of Virtual Internal Model Following Control. The proposed control architecture realizes the master-salve manipulator system with functions which assist operators based on the external information from sensors as well as bilateral feedback.<br>In this paper, the control problem of a master-slave manipulator is formulated as the realization problem of the desired relation between a master arm and a slave arm. The virtual internal model, whose input includes the external sensory information, is used to describe the desired relation. The control system is designed so that the master arm and the slave arm tracks the desired trajectories generated by the virtual internal model.<br>The proposed control architecture is experimentally applied to the master-slave manipulator system with force sensors and the effectiveness of the control architecture is illustrated through experiments.
Journal
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- Transactions of the Society of Instrument and Control Engineers
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Transactions of the Society of Instrument and Control Engineers 24 (2), 176-182, 1988
The Society of Instrument and Control Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390282679479568640
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- NII Article ID
- 130003969495
- 10011799866
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- NII Book ID
- AN00072392
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- ISSN
- 18838189
- 04534654
- http://id.crossref.org/issn/04534654
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- NDL BIB ID
- 3162345
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed