On the Passivity of a One-Link Rigid Master - Flexible Slave Manipulator
| Authors: | Mori Takahiro, Gifu National College of Technology, Japan
Morita Yoshifumi, Nagoya Institute of Technology, Japan
Ukai Hiroyuki, Nagoya Institute of Technology, Japan |
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| Topic: | 4.3 Robotics |
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| Session: | Robot Control II |
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| Keywords: | passivity, flexible arm, master-slave system, symmetric bilateral control, distributed parameter system, Laypunov method |
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Abstract
This paper discusses the passivity of a one degree-of-freedom rigid master - flexible slave (RMFS) manipulator.First of all, nonlinear motion equations of the RMFS system is derived as a distributed parameter system by using the Hamilton's principle. Applied the symmetric bilateral control to the RMFS system, the passivity of the system in the positioning operation is proved by using a Lyapunov function related to the total energy. Moreover, the steady states in pushing operation to an environment is discussed, then the passivity of the system in the neighborhood of the desired state is proved.
