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Bilateral coordination control of flexible master-slave manipulators using a partial differential equation model

文献类型：期刊论文

作者Li, Le1; Yang, Hongjun2; Liu, Jinkun1
刊名JOURNAL OF VIBRATION AND CONTROL
出版日期2020-08-14
页码12
关键词Bilateral teleoperation system flexible manipulator coordination control vibration control partial differential equation model
ISSN号1077-5463
DOI10.1177/1077546320945472
通讯作者Liu, Jinkun(ljk@buaa.edu.cn)
英文摘要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.
WOS关键词TELEOPERATION SYSTEM ; SYNCHRONIZATION CONTROL ; DISTURBANCE REJECTION ; VIBRATION CONTROL ; CONTROL DESIGN
资助项目Research Fund for the National Natural Science Foundation of China[61873296] ; CAS Prospective Deployment Project[ZDRW-KT-2019-1-010402]
WOS研究方向Acoustics ; Engineering ; Mechanics
语种英语
WOS记录号WOS:000560028300001
出版者SAGE PUBLICATIONS LTD
资助机构Research Fund for the National Natural Science Foundation of China ; CAS Prospective Deployment Project
源URL[http://ir.ia.ac.cn/handle/173211/40428]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者Liu, Jinkun
作者单位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
推荐引用方式
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.

入库方式： OAI收割

来源：自动化研究所

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