環境の動特性が不確かなバイラテラル制御系の一設計法(機械力学,計測,自動制御)

概要

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In the present paper, we examine a design method for master-slave systems of bilateral control systems. In master-slave systems, human operator works to achieve tasks via the master and the slave system. The slave system contacts the environment and works the tasks. According to past studies, when the dynamics of environment is treated as uncertainties, the number of unstable poles of the slave system is required to be equivalent to that of the slave system with the dynamics of the environment. In some cases, the number of unstable poles of the slave system with the dynamics of environment is different from that of the slave system. We propose a simple design method of bilateral control systems such that the number of unstable poles of the slave system with the dynamics of environment is different from that of the slave system without the dynamics of the environment.
一般社団法人日本機械学会の論文
2002-08-25