Sliding-Mode Control for A Tele-Manipulation Robot System with Elastic-Joint Slave

摘要：

For the slave flexibility which occurs in space and surgical applications of a tele-manipulation robot system, this paper proposes a two ports model for a tele-manipulation robot system with elastic-joint slave, and the ideal performance analysis is also presented. Then, a new sliding mode variable structure control program is designed in which the impedance control is used for the master device and the sliding-mode control is used for the slave. The simulation results illustrate that the proposed control strategy can inhibit the elastic vibration from the slave arm and attain better tracking of placement effectively.

关键词： tele-manipulation robot elastic-joint sliding-mode control placement tracking

作者: Qingjun Zeng Chunjing Wang

作者单位: National Natural Science Foundation of China (NO.60575051)

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 2029-2034

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）