Passivity of flexible master - slave manipulator

Author

Ukai, Hiroyuki ; Morita, Yoshifumi ; Mori, Takahiro

Author_Institution

Nagoya Inst. of Technol., Nagoya

fYear

2007

fDate

17-20 Sept. 2007

Firstpage

863

Lastpage

867

Abstract

This paper discusses the passivity of a one degree-of-freedom rigid master - flexible slave (RMFS) manipulator. First of all, nonlinear motion equations of the RMFS system is derived as a distributed parameter system by using the Hamilton´s principle. Applied the symmetric bilateral control to the RMFS system, the passivity of the system in the positioning operation is proved by using a Lyapunov function related to the total energy. Moreover, the steady states in pushing operation to an environment is discussed, then the passivity of the system in the neighborhood of the desired state is proved.

Keywords

Lyapunov methods; distributed control; flexible manipulators; nonlinear equations; Hamilton principle; Lyapunov function; RMFS manipulator passivity; degree-of-freedom rigid master-flexible slave manipulator; distributed parameter system; nonlinear motion equation; pushing operation; symmetric bilateral control; Arm; Control systems; Distributed parameter systems; Humans; Lyapunov method; Manipulators; Master-slave; Space technology; Stability analysis; Torque control; Laypunov method; distributed parameter system; flexible arm; master-slave system; passivity; symmetric bilateral control;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE, 2007 Annual Conference

Conference_Location

Takamatsu

Print_ISBN

978-4-907764-27-2

Electronic_ISBN

978-4-907764-27-2

Type

conf

DOI

10.1109/SICE.2007.4421105

Filename

4421105