Bilateral Control of Flexible Master-Slave Arms with Time-Varying Delay Affected by Contact Force from Obstacle Article Swipe
Masaharu Yagi
,
Yuichi Sawada
·
YOU?
·
· 2017
· Open Access
·
· DOI: https://doi.org/10.9746/jcmsi.10.2
YOU?
·
· 2017
· Open Access
·
· DOI: https://doi.org/10.9746/jcmsi.10.2
A bilateral control system for flexible master-slave arms with time-varying delay affected by contact force from an obstacle is considered in this study. The proposed bilateral control system is constructed using a rigid master arm, a flexible slave arm actuated by a high-geared servomotor, and a communication network that causes the time-varying delay. The flexible slave arm is affected by contact force from the obstacle during motion. PD and PDS controllers are designed for controlling the rigid master and flexible slave arms, respectively. A Lyapunov function is used in order to prove the stability and passivity of the proposed system. Finally, performance of the proposed bilateral control system is verified by numerical simulations.
Related Topics
Concepts
Control theory (sociology)
Obstacle
Passivity
Master/slave
Servomotor
Contact force
Computer science
Stability (learning theory)
Robotic arm
Control engineering
Control (management)
Engineering
Physics
Law
Machine learning
Operating system
Artificial intelligence
Quantum mechanics
Electrical engineering
Political science
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.9746/jcmsi.10.2
- OA Status
- gold
- Cited By
- 4
- References
- 11
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W2572770095
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W2572770095Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.9746/jcmsi.10.2Digital Object Identifier
- Title
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Bilateral Control of Flexible Master-Slave Arms with Time-Varying Delay Affected by Contact Force from ObstacleWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2017Year of publication
- Publication date
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2017-01-01Full publication date if available
- Authors
-
Masaharu Yagi, Yuichi SawadaList of authors in order
- Landing page
-
https://doi.org/10.9746/jcmsi.10.2Publisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
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https://doi.org/10.9746/jcmsi.10.2Direct OA link when available
- Concepts
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Control theory (sociology), Obstacle, Passivity, Master/slave, Servomotor, Contact force, Computer science, Stability (learning theory), Robotic arm, Control engineering, Control (management), Engineering, Physics, Law, Machine learning, Operating system, Artificial intelligence, Quantum mechanics, Electrical engineering, Political scienceTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
4Total citation count in OpenAlex
- Citations by year (recent)
-
2024: 1, 2019: 2, 2017: 1Per-year citation counts (last 5 years)
- References (count)
-
11Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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| abstract_inverted_index.master | 33, 77 |
| abstract_inverted_index.study. | 22 |
| abstract_inverted_index.system | 3, 27, 107 |
| abstract_inverted_index.contact | 13, 60 |
| abstract_inverted_index.control | 2, 26, 106 |
| abstract_inverted_index.motion. | 66 |
| abstract_inverted_index.network | 47 |
| abstract_inverted_index.system. | 99 |
| abstract_inverted_index.Finally, | 100 |
| abstract_inverted_index.Lyapunov | 84 |
| abstract_inverted_index.actuated | 39 |
| abstract_inverted_index.affected | 11, 58 |
| abstract_inverted_index.designed | 72 |
| abstract_inverted_index.flexible | 5, 36, 54, 79 |
| abstract_inverted_index.function | 85 |
| abstract_inverted_index.obstacle | 17, 64 |
| abstract_inverted_index.proposed | 24, 98, 104 |
| abstract_inverted_index.verified | 109 |
| abstract_inverted_index.bilateral | 1, 25, 105 |
| abstract_inverted_index.numerical | 111 |
| abstract_inverted_index.passivity | 95 |
| abstract_inverted_index.stability | 93 |
| abstract_inverted_index.considered | 19 |
| abstract_inverted_index.constructed | 29 |
| abstract_inverted_index.controllers | 70 |
| abstract_inverted_index.controlling | 74 |
| abstract_inverted_index.high-geared | 42 |
| abstract_inverted_index.performance | 101 |
| abstract_inverted_index.servomotor, | 43 |
| abstract_inverted_index.master-slave | 6 |
| abstract_inverted_index.simulations. | 112 |
| abstract_inverted_index.time-varying | 9, 51 |
| abstract_inverted_index.communication | 46 |
| abstract_inverted_index.respectively. | 82 |
| cited_by_percentile_year.max | 96 |
| cited_by_percentile_year.min | 90 |
| countries_distinct_count | 1 |
| institutions_distinct_count | 2 |
| sustainable_development_goals[0].id | https://metadata.un.org/sdg/16 |
| sustainable_development_goals[0].score | 0.4300000071525574 |
| sustainable_development_goals[0].display_name | Peace, Justice and strong institutions |
| citation_normalized_percentile.value | 0.65216085 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | False |