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http://dx.doi.org/10.5302/J.ICROS.2009.15.10.1039

Optimal Static Output Feedback Control of Tendon Driven Master-Slave Manipulator  

Kang, Min-Sig (경원대학교 기계자동차공학과)
Lee, Jong-Kwang (한국원자력연구원)
Yoon, Ji-Sup (한국원자력연구원)
Park, Byung-Suk (한국원자력연구원)
Kim, Ki-Ho (한국원자력연구원)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.15, no.10, 2009 , pp. 1039-1046 More about this Journal
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 tendon and available measurements for control, we proposed an optimal static output feedback control for possible bilateral control architecture. By using modal analysis, the system model is reduced to guarantee the detectability which is a necessity for the static output feedback control design. 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.
Keywords
master-slave manipulator; tendon driven; bilateral control; optimal static output control; modal analysis;
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