MASTER-SLAVE MANIPULATOR BASED ON VIRTUAL INTERNAL MODEL FOLLOWING CONTROL CONCEPT.

Katsuhisa Furata, Kazuhiro Kosuge, Yoshinori Shiote, Hiromu Hatano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

30 Citations (Scopus)

Abstract

The control method of master-slave manipulator using the concept of virtual internal model following control is proposed. In this control system, the relation between a master arm and a slave arm is described by a virtual internal model. The control law of the system is based on the so-called model-following servo control. Since the control system has an explicit virtual internal model in the system, the stability margin of the total system is not affected by the stability margin of the virtual internal model itself. Any virtual internal model can be designed for the system as far as it is stable.

Original languageEnglish
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages567-572
Number of pages6
ISBN (Print)0818607874
Publication statusPublished - 1987 Jan 1
Externally publishedYes

ASJC Scopus subject areas

  • Engineering(all)

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