| Bilateral coordination control of flexible master-slave manipulators using a partial differential equation model | |
Li, Le1; Yang, Hongjun2 ; Liu, Jinkun1
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| Source Publication | JOURNAL OF VIBRATION AND CONTROL
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| ISSN | 1077-5463 |
| 2020-08-14 | |
| Pages | 12 |
| Corresponding Author | Liu, Jinkun(ljk@buaa.edu.cn) |
| Abstract | In this study, we evaluate the coordination tracking control problem of a flexible master-slave teleoperation system. The system under consideration is based on a dynamic model described by a set of partial differential equations. Existing research on bilateral controllers is based on teleoperation systems composed of rigid master robots and rigid or flexible slave robots. In this work, we consider teleoperation systems with flexible master and slave robots. We dynamically model flexible master-slave manipulators using partial differential equations. Based on the dynamic model, a bilateral coordination controller is developed to realize the coordination angle tracking and vibration suppression of flexible master-slave manipulators. The teleoperation system is proven to be asymptotically stable under the control scheme. Numerical simulation results illustrate that the proposed controller is effective. |
| Keyword | Bilateral teleoperation system flexible manipulator coordination control vibration control partial differential equation model |
| DOI | 10.1177/1077546320945472 |
| WOS Keyword | TELEOPERATION SYSTEM ; SYNCHRONIZATION CONTROL ; DISTURBANCE REJECTION ; VIBRATION CONTROL ; CONTROL DESIGN |
| Indexed By | SCI |
| Language | 英语 |
| Funding Project | Research Fund for the National Natural Science Foundation of China[61873296] ; CAS Prospective Deployment Project[ZDRW-KT-2019-1-010402] |
| Funding Organization | Research Fund for the National Natural Science Foundation of China ; CAS Prospective Deployment Project |
| WOS Research Area | Acoustics ; Engineering ; Mechanics |
| WOS Subject | Acoustics ; Engineering, Mechanical ; Mechanics |
| WOS ID | WOS:000560028300001 |
| Publisher | SAGE PUBLICATIONS LTD |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.ia.ac.cn/handle/173211/40429 |
| Collection | 复杂系统管理与控制国家重点实验室_先进机器人 |
| Corresponding Author | Liu, Jinkun |
| Affiliation | 1.Beihang Univ, Sch Automat Sci & Elect Engn, Xueyuan Rd 37, Beijing 100191, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China |
| Recommended Citation GB/T 7714 | Li, Le,Yang, Hongjun,Liu, Jinkun. Bilateral coordination control of flexible master-slave manipulators using a partial differential equation model[J]. JOURNAL OF VIBRATION AND CONTROL,2020:12. |
| APA | Li, Le,Yang, Hongjun,&Liu, Jinkun.(2020).Bilateral coordination control of flexible master-slave manipulators using a partial differential equation model.JOURNAL OF VIBRATION AND CONTROL,12. |
| MLA | Li, Le,et al."Bilateral coordination control of flexible master-slave manipulators using a partial differential equation model".JOURNAL OF VIBRATION AND CONTROL (2020):12. |
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