Bilateral Control of Flexible Master-slave Arm with Constant Time Delay

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  • YAGI Masaharu
    Graduate School of Science and Technology, Kyoto Institute of Technology
  • HAYASHI Akinori
    Graduate School of Science and Technology, Kyoto Institute of Technology
  • SAWADA Yuichi
    Graduate School of Science and Technology, Kyoto Institute of Technology
  • KIMURA Hiroshi
    Graduate School of Science and Technology, Kyoto Institute of Technology

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  • 遅延時間を伴う柔軟マスタースレーブアームのバイラテラル制御
  • チエン ジカン オ トモナウ ジュウナン マスタースレーブアーム ノ バイラテラル セイギョ

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This paper presents stability analysis of bilateral control for single-link flexible master-slave arms with constant time delay. The considered system consists of a rigid master-arm and a single-link flexible slave-arm which are connected over the network communication with constant time delay. In this paper, the PDS (proportional, derivative and strain feedback) based bilateral control law for our flexible master-slave arm is employed. The stability of the proposed system is shown via the Lyapunov stability theorem. The performance of our bilateral control is demonstrated by several numerical results.

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