Title :
Control of a space flexible master-slave manipulator based on parallel compliance models
Author :
Komatsu, Tadashi ; Akabane, Toshio
Author_Institution :
Dept. of Mech. Eng., Kanto Gakuin Univ., Yokohama, Japan
Abstract :
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
Keywords :
compliance control; flexible structures; manipulators; stability; telerobotics; vibration control; FMSM; Space flexible master-slave manipulator control; bilateral controller; compact rigid master arm; dual compliance models; parallel compliance models; stable compliance control; vibration control; Actuators; Arm; Control system synthesis; Control systems; Elasticity; Manipulators; Master-slave; Mechanical engineering; Torque control; Vibration control;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.680596
