Title :
Maneuverability of flexible master-slave systems
Author :
Mori, Takahiko ; Morita, Yoshifumi ; Ukai, Hiroyiki ; Kando, Hisashi
Author_Institution :
Gifu Nat. Coll. of Technol., Japan
Abstract :
In this paper, the maneuverability of master-slave systems with flexible slave arms is discussed. Firstly the one link rigid-master and flexible-slave arms rotating in the horizontal plane is modeled. And the dynamics of both the environment and the operator are expressed as impedance models. Secondly the input-output relations of master-slave systems are represented by using the two-terminal-ports network model. Finally on the basis of this representation, the evaluation of maneuverability is achieved by using the quantitative performance index with some numerical simulation results
Keywords :
flexible manipulators; performance index; telerobotics; I/O relations; flexible manipulators; flexible master-slave system maneuverability; flexible slave arms; impedance models; input-output relations; rigid master arms; Arm; Communication system control; Educational institutions; Humans; Impedance; Manipulators; Master-slave; Numerical simulation; Performance analysis; Servomechanisms;
Conference_Titel :
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6456-2
DOI :
10.1109/IECON.2000.973150
