Parallel Impedance Control for Master-Slave with Force-Reflection

Abstract

A parallel impedance control architecture with force-reflection is proposed, in which a telemanipulation system is partitioned into an [operator+master] part and a [slave+object] part, and is named as two parallel subsystems, i.e., O-M subsystem and S-O subsystem. Consequently the virtual impedance of master and slave can be set independently to enable that the stability problem can be decoupled from the transparency problem. In order to realize the ideal response, the detailed policy for setting the virtual impedance of master and slave is given respectively with the consideration of keeping the impedance characteristics of the two parallel subsystems identically. Besides, a virtual input which is calculated based on O-M subsystem is fed into S-O subsystem in order to guarantee that the two parallel subsystems have the same input. The proposed control architecture is applied to a hydraulic master-slave system and its validity is proved by the experimental results.