修正対称型バイラテラル制御則を用いたフレキシブルマスタ-スレーブマニピュレータの受動性とその設計法

抄録

In this paper we study on the passivity of flexible master-slave manipulators using proposed modified symmetric bilateral control. First, we derive dynamic equations of flexible master-slave manipulators by means of the Hamilton's principle. Second, when applying the modified symmetric bilateral control to flexible master-slave manipulators, and we prove the passivity in the positioning operation and in the neighborhood of the desired state in the pushing operation to an environment by introducing a Lyapunov function related to the total energy. Finally, we show some results of numerical simulations in order to verify the usefulness of proposed controller.