Analysis and Improvement of Digital Control Stability for Master-Slave Manipulator System
نویسندگان
چکیده
منابع مشابه
Master-Slave Teleoperation Method of Redundant Manipulator
Abstract. This paper introduces a master-slave control method of teleoperating a redundant manipulator with double handles. The master handles send motion commands in the form of increments. The mapping module transforms the commands into homogeneous matrices. And the slave manipulator links discrete motion commands in the mode of PVAT automatically, by inverse kinematics and fifth-order polyno...
متن کاملA Master-Slave DSP Board for Digital Control
This paper presents an integrated environment for development of real-time digital control systems. It constitutes a pilot project in the real-time aspect using Digital Signal Processor (DSP). The hardware platform is composed by a Master-Slave DSP board and the software platform has a friendly user interface. It is intended to generate a basic real-time tool library that will allow others rese...
متن کاملMaster-slave System with Teleoperation for Rehabilitation
In this paper, a master-slave robot system with haptic feedback, human sensing and teleoperation for rehabilitation of upper limb function is presented. The physician could adjust on-line the exercise based on the EMG signal of the patient and force feedback. Moreover, in the present teleoperating system, it is shown that the stability is guaranteed due to the passivity of the master arm’s mech...
متن کاملWireless Master-Slave FES Rehabilitation System Using sEMG Control
A new kind of rehabilitation system is presented in this paper, which can assist the paralyzed patients caused bystroke to perform specific exercise following the therapist’s intention. The master-slave rehabilitation concept is firstly introduced into the functional electrical stimulation (FES) system. This system consists of a master unit and a slave unit, and the two units are connected thro...
متن کاملA Control Strategy for Flywheel Energy Storage System for Frequency Stability Improvement in Islanded Microgrid
The Micro-Grid (MG) stability is a significant issue that must be maintained in all operational modes. Usually, two control strategies can be applied to MG; V/f control and PQ control strategies. MGs with V/f control strategy should have some Distributed Generators (DGs) which have fast responses versus load changes. The Flywheel Energy Storage System (FESS) has this characteristic. The FESS, w...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Transactions of the Society of Instrument and Control Engineers
سال: 1992
ISSN: 0453-4654
DOI: 10.9746/sicetr1965.28.1451