Maneuverability of flexible master-slave systems

被引：0
|
作者：
Mori, T [1 ]
Morita, Y [1 ]
Ukai, H [1 ]
Kando, H [1 ]
机构：
[1] Gifu Natl Coll Technol, Gifu, Japan
来源：
IECON 2000: 26TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4: 21ST CENTURY TECHNOLOGIES AND INDUSTRIAL OPPORTUNITIES | 2000年
关键词：
master-slave manipulator; flexible arm; maneuverability; bilateral control scheme; two-terminal-pair network;
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 maneuverability of master-slave systems with flexible slave arms is discussed. Firstly the one link rigid-master and flexible-slave arms rotating in the horizontal plane is modeled. And the dynamics of both the environment and the operator are expressed as impedance models. Secondly the input-output relations of master-slave systems are represented by using the two-terminal-ports network model. Finally on the basis of this representation, the evaluation of maneuverability is achieved by using the quantitative performance index with some numerical simulation results.
引用
收藏
页码：201 / 206
页数：6
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