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An analysis of static output feedback control for tendon driven master-slave manipulator — Simulation study

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Abstract

In this work, a bilateral control for a master-slave manipulator system which will be used for handling objects contaminated by radioactivity has been addressed. The links of manipulators are driven independently by individual motors installed on the base and the driving torque is transmitted through pre-tensioned tendons. The measurable variables are the positions and rates of master/slave motors. In the consideration of the flexibility of the power transmission tendon and available measurements for control, we proposed an optimal static output feedback control for possible bilateral control architecture. The system model is reduced to guarantee the controllability and observability which are necessity for the static output feedback control by using modal analysis. Based on the reduced model, the control gains are determined to attenuate vibration in the sense of optimality. The feasibility of the proposed control design was verified along with some simulation results.

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Abbreviations

J :

moment of inertia

Kp, Kd :

proportional and derivative control gains

Km, Ks :

equivalent stiffness of master tendon and slave tendon

q :

modal coordinate

U, V :

right and left modal matrics

x, z :

state variables

α :

force reflection ratio

γ :

L2-gain

λ :

eigenvalue

θ :

angle of rotation

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Authors and Affiliations

  1. Korea Atomic Energy Research Institute, Dukjin-Dong, Yuseong-Gu, Daejeon, Korea, 305-353

    Jong Kwang Lee & Ki Ho Kim

  2. Dept. of Mechanical and Automotive Engineering, Kyungwon University, Bokjung-Dong, Sungnam, Kyunggi-Do, Korea, 461-701

    Min Sig Kang

Authors
  1. Jong Kwang Lee
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  2. Ki Ho Kim
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  3. Min Sig Kang
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Correspondence to Min Sig Kang.

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Lee, J.K., Kim, K.H. & Kang, M.S. An analysis of static output feedback control for tendon driven master-slave manipulator — Simulation study. Int. J. Precis. Eng. Manuf. 12, 243–250 (2011). https://doi.org/10.1007/s12541-011-0033-8

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  • DOI: https://doi.org/10.1007/s12541-011-0033-8

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