TY - GEN
T1 - Inspection of interference in a decentralized control of redundant master-slave system
AU - Oiki, T.
AU - Murakami, T.
N1 - Publisher Copyright:
© 2015, Institution of Engineering and Technology. All rights reserved.
Copyright:
Copyright 2021 Elsevier B.V., All rights reserved.
PY - 2015
Y1 - 2015
N2 - In this research, a unified control of autonomous control and bilateral control in redundant master-slave system is proposed. 2 DOF planar manipulator is used as a master robot, and 4 DOF planar manipulator is used as a slave robot. Autonomous control is applied to the 1st and 2nd link of slave robot, and bilateral control is applied to 3rd and 4th link of slave robot. In the proposed method, position control and force control are applied to each subsystem, and the influence on force response by the interference of position control and force control may happen. Experiments are conducted to confirm the influence by comparing the force response of conventional master-slave bilateral controller and proposed method. Furthermore, experiment which is introducing impedance control in place of position control is conducted.
AB - In this research, a unified control of autonomous control and bilateral control in redundant master-slave system is proposed. 2 DOF planar manipulator is used as a master robot, and 4 DOF planar manipulator is used as a slave robot. Autonomous control is applied to the 1st and 2nd link of slave robot, and bilateral control is applied to 3rd and 4th link of slave robot. In the proposed method, position control and force control are applied to each subsystem, and the influence on force response by the interference of position control and force control may happen. Experiments are conducted to confirm the influence by comparing the force response of conventional master-slave bilateral controller and proposed method. Furthermore, experiment which is introducing impedance control in place of position control is conducted.
KW - Autonomous control
KW - Bilateral control
KW - Decentralized control
KW - Disturbance observer(DOB)
KW - Redundant manipulator
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M3 - Conference contribution
AN - SCOPUS:84973334822
T3 - IET Conference Publications
BT - IET Conference Publications
PB - Institution of Engineering and Technology
T2 - 5th Asia International Symposium on Mechatronics, AISM 2015
Y2 - 7 October 2015 through 10 October 2015
ER -