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Han, Qing-kai

Controlled synchronization for master-slave manipulators based on observed ender trajectory. (English) Zbl 1245.93050

Int. J. Struct. Stab. Dyn. 11, No. 6, 1089-1102 (2011).
Summary: We propose two control strategies for the motion synchronization of the master-slave manipulators based on their ender trajectories. First, the basic equations used by the two control methods for motion synchronization are presented. Such procedures are proved to be stable for negative definite gain matrices, according to the Lyapunov theory. Then, the controlled items of the slave manipulator are determined for the ender trajectory synchronization by the coordinate transformations between the joint variables and the ender trajectory in the form of pseudo-Jacobian matrix. Finally, the two control methods for synchronization are validated by the numerical simulation for a master-slave system consisting of two planar three-degree-of-freedom (3-DOF) manipulators.

Cited in 1 Document

MSC:

93B52 Feedback control
70Q05 Control of mechanical systems
70E50 Stability problems in rigid body dynamics
93C15 Control/observation systems governed by ordinary differential equations

Keywords:

Lyapunov theory; master-slave manipulators; stability; synchronization controller; pseudo-Jacobian matrix
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References:

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