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

doi:10.1177/1077546320945472

CORC > 自动化研究所 > 中国科学院自动化研究所 > 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

	Bilateral coordination control of flexible master-slave manipulators using a partial differential equation model
	Li, Le 1; Yang, Hongjun 2; Liu, Jinkun 1
刊名	JOURNAL OF VIBRATION AND CONTROL
	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
DOI	10.1177/1077546320945472
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.
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关键词	TELEOPERATION SYSTEM ; SYNCHRONIZATION CONTROL ; DISTURBANCE REJECTION ; VIBRATION CONTROL ; CONTROL DESIGN
WOS研究方向	Acoustics ; Engineering ; Mechanics
语种	英语
出版者	SAGE PUBLICATIONS LTD
WOS记录号	WOS:000560028300001
资助机构	Research Fund for the National Natural Science Foundation of China ; CAS Prospective Deployment Project
内容类型	期刊论文
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.