Passivity of flexible master-slave manipulators using modified symmetric bilateral control and its design methods

Recently, researches on a control of flexible manipulators have been increasing in attention in the field of master-slave system. The master-slave system is a control system to operate a manipulator for objects in a remote environment. In order to suppress the influence due to the elasticity of flexible manipulators, it is necessary to consider a vibration control for flexible master-slave manipulators and the passivity. Thus, we propose a modified symmetric bilateral controller considered derivative terms and a shearing-force feedback for the purpose of positioning operation. This paper is organized in the following way: First, we introduce mechanical models of manipulators by applying Hamilton´s principle to energies of the system. Second, we propose modified symmetric bilateral controller based on passivity in case of positioning operation. Lastly, The results of simulations are given in order to verify the validity of this method.