Title :
A digital control method applied to master-slave manipulator systems
Author :
Yoshida, Koichi ; Yabuta, Tetsuro
Author_Institution :
Telecommun. Field Syst. R&D Center, NTT Corp., Ibaraki, Japan
Abstract :
This paper presents experimental results on the digital control of a master-slave manipulator system, which is designed to realize high-fidelity telemanipulation and stability even though the task object parameters are changed. The authors design a double structured digital controller consisting of disturbance observers and a master-slave controller. The validity of the proposed control method is confirmed experimentally for a single DOF master-slave system
Keywords :
State estimation; control system synthesis; digital control; robots; state estimation; telecontrol; digital control; disturbance observers; high-fidelity telemanipulation; master-slave manipulator systems; robots; stability; telecontrol; Acceleration; Control systems; Digital control; Error correction; Force control; Humans; Impedance; Manipulator dynamics; Master-slave; Sensor systems;
Conference_Titel :
Robot and Human Communication, 1992. Proceedings., IEEE International Workshop on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-0753-4
DOI :
10.1109/ROMAN.1992.253874
