マスタスレーブロボットのバイラテラル制御 : 独立安定化とロバストな制御系の設計(機械力学,計測,自動制御)

概要

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A master-slave system is a tele-operating system consisting of a master manipulator which is directly manipulated by an operator, and a slave manipulator which tracks the master manipulator and actually works with objects. This system enables one to work in a severe environment, or to do large-/small-scale manipulation by enlargement/scalingdown of force or position. Recently, design methods based on advanced control theory are proposed in order to improve operation. However, in many cases, the controller does not guarantee stability of the system when communication between master and slave is disrupted. In this research, we try to stabilize the master and slave manipulators independently by controlling mechanical impedance of manipulators. Simultaneously, linearization and decoupling of manipulator dynamics can be achieved. Then we design a main controller, which allows the system to work as a master-slave system, by using μ-synthesis. The stability of the system and the control performance are guaranteed even under the existence of modeling error.
一般社団法人日本機械学会の論文
1997-04-25