Sliding-mode control for a tele-manipulation robot system with elastic-joint slave

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.