作業空間における適応制御を用いたむだ時間のあるバイラテラル制御系の設計

抄録

It is effective for improving stability of the bilateral teleoperation with time delay that the adaptive control which dynamically changes master’s position controller gain depending on the stiffness of a contact object. In the previous study, the controller was designed in joint space only. It is necessary with the different structure master - slave system to design the controller in work space for the bilateral teleoperation. In this paper, we design the adaptie controller in work space and verify on the 2DOF parallel link robots system.