Application of Virtual Internal Model to Remote Manipulation

Abstract

This paper presents a control method of robotics for tele-manipulation based on master slave control using virtual internal model. To show that the slave systems having different dynamics can be controlled by one master-device, a tele-manipulation of wheeled mobile robot and a conventional scalar types robots are dealt. The control system is designed so that the positions or velocities of the slaves track reference signals which are generated by the virtual internal model. The proposed approach is found effective by simulation.