지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 748 - 753 (6page)
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초록· 키워드
오류제보하기
Recently，study on a control of flexible manipulators have been receiving increasing attension in the domain of master-slave system. The master-slave system is a control system to operate a manipulator for objects in a remote environment which is at a distance from the presence of a human operator. In order to consider the influence by the elasticity of flexible manipulators, it is necessary to study on the control of vibration of flexible master-slave manipulators and the passivity. Thus in this paper, we discuss about a new modified bilateral controller considering the elasticity by using intervention impedance in basis on the passivity and a control performance of the system. This paper is organized in the following way : First, we introduce mechanical models of manipulators. Second, we propose bilateral controls by using intervention impedance based on passivity. Third, we transeform each models represented by time domain into models represented by s-plain, find the scattering matrix，and prove the passivity of system. Fourth, we propose a new modified controller controller for the purpose of realizaion. Lastly, we show some results of experiments in order to verify the usefulness of proposed controller.
목차
Abstract
1. INTRODUCTION
2. DISTRIBUTED PARAMETER MODEL
3. BILATERAL CONTROLLER USING INTERVENTION IMPEDANCE
4. PASSIVITY OF FMSM USING TWO-TERMINAL PORT NETWORK
5. PROPOSAL OF MODIFIED BILATERAL CONTROLLER
6. EXPERIMENTAL VERIFICATION
7. CONCLUSION
REFERENCES
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