DocumentCode
324052
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
Volume
3
fYear
1998
fDate
16-20 May 1998
Firstpage
1932
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.680596
Filename
680596
Link To Document