Bilateral Teleoperation of Flexible-Joint Robot System

被引：0

作者：

Ye, Weiquan ^{[1
]}

Wang, Dehong ^{[1
]}

Zhai, Dihua ^{[2
]}

Li, Zhijun ^{[1
]}

Xia, Yuanqing ^{[2
]}

机构：

[1] South China Univ Tech, Key Lab Autonomous Syst & Network Control, Coll Automat Sci & Engn, Guangzhou, Guangdong, Peoples R China

[2] Beijing Inst Tech, Dept Automat, Beijing, Peoples R China

来源：

2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2014年

基金：

中国国家自然科学基金;

关键词：

PD type controller; underactuated; flexible joint; time-varying delays; motion synchronization; PD CONTROLLER; TIME-DELAY; NETWORKS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper the problem of bilateral teleoperation of flexible joint manipulators is investigated. Different from the previous works on bilateral teleoperation systems, we investigate the underactuated robotic manipulators instead of the fully actuated one. Specifically, the master and slave robots exhibit joint flexibility. Given that the time-varying delay, the master/slave robots are coupled using the PD type control strategy, the nonlinear master-slave teleoperation system is shown to be asymptotic stable. Simulations results are finally presented to verify the proposed results.

引用

页码：1911 / 1916

页数：6

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