Master-slave manipulator based on virtual internal model following control concept
Master-slave manipulator based on virtual internal model following control concept
复制标题
基于虚拟内模跟随控制理念的主从机械臂
DOI：
10.1109/robot.1987.1088064
复制
发表时间：
1987
期刊：
影响因子：
--
通讯作者：
Hiromu Hatano
中科院分区：
文献类型：
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作者：
K. Furuta;K. Kosuge;Y. Shiote;Hiromu Hatano
本文提出了一种基于虚拟内模跟踪控制概念的主从机械手控制方法，实现了主从机械手系统具有多种辅助操作功能和基于传感器等外部信息的双向反馈功能。在所提出的控制系统中，虚拟内部模型被引入到描述一个主的运动和从的运动之间的期望的关系。将传感器等检测到的外部信息应用于该模型，并基于该模型控制主臂和从臂的运动。将该算法应用于带力传感器的主从机械手，实现了对外界信息的期望响应和双向反馈。
This paper presents a new control method of master-slave manipulators based on the concept of Virtual Internal Model Following Control, which realizes the master-slave manipulator system with various functions which assist operators as well as bilateral feedback based on external information from sensors or others. In the proposed control system, the virtual internal model is introduced to describe a desired relation between the motion of a master and that of a slave. The external information detected by sensors or others are applied to this model, and the motions of master and slave arms are controlled based on the model. The proposed algorithm is experimentaly applied to the master-slave manipulator with force sensors, and desired response to the external information as well as bilateral feedback is realized.