Journal of Research Institute of Science and Technology, College of Science and Technology, Nihon University
Online ISSN : 2185-4181
Print ISSN : 1884-8702
ISSN-L : 1884-8702
ORIGINAL PAPER
Speed Control Using Dynamic Inversion with Different Configurations Master Slave Arm
Yoshiki TOKIEDAHiroaki YOSHIDA
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2018 Volume 2018 Issue 143 Pages 143_1-143_7

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Abstract

Intuitive operation is difficult for a multi - degree of freedom manipulator. An operator needs a long time to obtain complicated operating methods. Same configuration master slave system is employed for intuitive operation. However, this same configuration system forces heavy load on the operator in repetitious operation. Different configuration master slave system can avoid this problem. Then, we propose different configuration master slave manipulator system for intuitive operation. Operator enable intuitive operation that speed control of end-effecor by master unit. The equation of motion of the manipulator includes a nonlinear terms. These nonlinear terms make it difficult to construct a stable control law. In this paper, we propose a method to remove nonlinear terms of motion equations using Dynamic Inversion. The controller can be systematically and easily designed by using the Dynamic Inversion. This paper shows the effect of Dynamic Inversion and experimental results of speed input to the end effector.

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© 2018 Nihon University Research Institute of Science and Technology
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