Title :
Passivity of flexible master - slave manipulator
Author :
Ukai, Hiroyuki ; Morita, Yoshifumi ; Mori, Takahiro
Author_Institution :
Nagoya Inst. of Technol., Nagoya
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;
Conference_Titel :
SICE, 2007 Annual Conference
Conference_Location :
Takamatsu
Print_ISBN :
978-4-907764-27-2
Electronic_ISBN :
978-4-907764-27-2
DOI :
10.1109/SICE.2007.4421105
