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.
|Title of host publication||Unknown Host Publication Title|
|Number of pages||6|
|Publication status||Published - 1987 Jan 1|
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