Parallel Control Method for a Bilateral Master-Slave Manipulator
Parallel Control Method for a Bilateral Master-Slave Manipulator
复制标题
双边主从机械臂的并行控制方法
DOI：
10.7210/jrsj.7.446
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发表时间：
1989
期刊：
影响因子：
--
通讯作者：
S. Hagihara
中科院分区：
文献类型：
--
作者：
T. Miyazaki;S. Hagihara
本文提出了一种新的双边主从机械臂控制方法。所提出的方法使控制系统产生稳定且快速的响应。这些对于获得精确的位置控制和灵敏的力反射控制至关重要。 在传统的位置力控制方法中，主臂和从臂的每个控制回路串联以构建双边控制回路。因此，通过双边控制环路的总相位滞后变为单臂控制的两倍。这种相位滞后使得控制系统不稳定，控制性能变差。为了提高稳定性和控制性能，我们提出了“并联控制方法”。该方法将主臂和从臂的控制回路并联，使总相位滞后减小到与单臂相同。研究了该方法的稳定性条件，证明该方法的稳定性可以独立于反作用面刚度和主从臂之间的位置/力比来保证，而传统方法的稳定性取决于它们。
In this paper, a new control method for a bilateral master-slave manipulator is proposed. The proposed method yields stable and fast response of the control system. These are essential to obtain a precise position control and a sensitive force reflection control.In the conventional position-force control method, each control loop of the master and the slave arms are connected in series to construct a bilateral control loop. Therefore the total phase lag through the bilateral control loop becomes twice as much as that of one arm control. Such phase lag makes the control system unstable and control performance worse.To improve the stability and the control performance, we propose “parallel control method.” In the proposed method, the control loops of the master and the slave arms are connected in parallel so that the total phase lag is reduced to as much as that of one arm.The stability condition of the proposed method is studied and it is proved that the stability of this method can be guaranteed independent of the rigidness of a reaction surface and the position/force ratio between the master and the slave arms while the stability of the conventional method depends on them.