This is the study of the motion, vibration and contact force control of a flexible master-slave system (FMSS). In this study, the master arm is a one-link arm that consists of a rigid body and the slave arm is a one-link arm that consists of a flexible link. Bilateral control based on passivity and a type-1 optimal servo system based on a linear quadratic regulator (LQR) are applied to the system. Fuzzy control is employed to reinforce the advantages of these control methods. A state observer is employed to construct these controllers, however, the accuracy of state estimation deteriorates while the slave-arm is in contact with objects. Therefore improvements in the accuracy of the state estimation are attempted by applying the disturbance-state observer. The performance of the present method is evaluated by experimental results.

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