マイクロマニプレータの制御 : 第1報,マイクログリッパの基本特性とバイラテラル制御の一方法

概要

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A method of the master-slave type of bilateral control as one of the teleoperators is proposed in this paper to improve the operability of a micro-manipulator system for applications to genetic manipulation, micro surgery and others, which require contractive position and force. Conventional bilateral control methods can be classified from the viewpoint of a unified approach and a more general method is proposed here as the impedance reflective control method under some assumptions that the master slave dynamics are both linear. Then the stability problem is also described in the vein of the model reference adaptive system. The slave of the micro-gripper, as one of micromanipulators is made of a PMN ceramic actuator and the double link mechanism, while the master is made of a DC motor and an operating lever. The position and the force in both the master and the slave are all fed back to the control computer between them for computing control inputs for various methods. The comparison of experimental results between the conventional methods and the new method clarifies that the new method is effective for micro-manipulation.
一般社団法人日本機械学会の論文
1987-09-25