Name
Abstract | ||
|---|---|---|
For the slave flexibility which occurs in space and surgical applications of a tele-manipulation robot system, this paper proposes a two ports model for a tele-manipulation robot system with elastic-joint slave, and the ideal performance analysis is also presented. Then, a new sliding mode variable structure control program is designed in which the impedance control is used for the master device and the sliding-mode control is used for the slave. The simulation results illustrate that the proposed control strategy can inhibit the elastic vibration from the slave arm and attain better tracking of placement effectively. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/ROBIO.2009.5420525 | ROBIO |
Keywords | Field | DocType |
sliding mode variable structure control,mode variable structure control,telemanipulation robot system,electric impedance,slave arm,elastic vibration,control system synthesis,impedance control,tele-manipulation robot system,tele-manipulation robot,slave flexibility,placement tracking,manipulators,elastic-joint slave,elastic-joint,vibration control,elasticity,proposed control strategy,better tracking,master device,two ports model,sliding-mode control,telerobotics,variable structure systems,force,variable structure control,sliding mode control,mathematical model | Robotic systems,Vibration control,Control theory,Control engineering,Impedance control,Engineering,Vibration,Variable structure control,Telerobotics,Elasticity (economics),Sliding mode control | Conference |
ISBN | Citations | PageRank |
978-1-4244-4775-6 | 0 | 0.34 |
References | Authors | |
3 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Qingjun Zeng | 1 | 0 | 1.01 |
| Chunjing Wang | 2 | 1 | 0.71 |