Control of a space flexible master-slave manipulator based on parallel compliance models
説明
This paper proposed a bilateral controller of a flexible master-slave manipulator (FMSM). A FMSM consists of a conventional compact rigid master arm and a flexible slave arm, and will be used in outer space in the future. This controller realizes stable compliance control and vibration control. The key idea is that this controller has dual compliance models.
収録刊行物
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- Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)
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Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) 3 1932-1937, 2002-11-27
IEEE
