抄録
There have been a lot of literature on the master-slave systems. Therein, the aim of control has been developed from an ancient and simpler one, i.e., from unilateral into bilateral servo, from manipulators with same configulations into ones with defferent ones, and so on.
In controlling the master-slave systems, however, ‘manipulating ability’ is very inportant. The good manipulating ability mean here that an operator can handle the master-slave robot arms and manipulate an object as if he directly manipulated the object.
In this paper, we propose a new control method of master-slave systems by using the model reference adaptive control (MRAC) which has ‘reference model estimation’. The reference model, which describes the object dynamics, is estimated from position and force at slave arm, and master and slave arm are controlled separately by MRAC to track the reference model output.
The advantages of this control method are 1) while the system is bilateral and the operator can feel the interactive force between slave arm and the object, he doesn't feel the dynamics of master-slave system, 2) as the reference model is estimated in real time, the system is adaptive to objects which have unknown or changing dynamics, 3) in case of presence of transmission delay between master and slave such as a space robot, the reference model on master site is considered as the model of slave site and the operator can manipulate the object without consciousness of delay.
First we describe the way to design the controller, and then numerical simulations and experiments illustlate these advantages.
