フレキシブル・マスター-スレーブシステムの運動と力の制御 : 物体との接触時における状態推定精度の改善(機械力学,計測,自動制御)

概要

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We study the motion, vibration and contact force control of the flexible master-slave system (FMSS). In this study, the master arm is a one-link arm that consists of a rigid body and the slave arm is a one-link arm that consists of a flexible link. The bilateral control based on passivity and the optimal control based on the linear quadratic regulator (LQR) are applied to the system. Each of those control methods has some advantages and disadvantages. We employ the state observer to construct those controllers. However, the accuracy of state estimation is deteriorated while the slave-arm contacts with objects. Therefore we improve the accuracy of the state estimation by applying the disturbance-state observer. We indicate the performance of the present method by experimental results.
社団法人日本機械学会の論文
2008-04-25