Application of Virtual Internal Model to Remote Manipulation

Itsuki Arai; Yasunobu Kurota; Satoshi Suzuki; Katsuhisa Furuta

doi:10.11499/sicep.2002.0.48.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.48.0

会議情報

主催: The Society of Instrument and Control Engineers

共催: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Application of Virtual Internal Model to Remote Manipulation

Itsuki Arai, Yasunobu Kurota, Satoshi Suzuki, Katsuhisa Furuta

著者情報

キーワード: virtual internal model, master-slave control, tele-manipulation

会議録・要旨集フリー

p. 48

詳細

抄録

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.

責任著者(Corresponding author)

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