Bilateral Control System of Nonlinear Flexible Master-Slave Arms with Random Delay Affected by Contact Force with Obstacle

Abstract

This paper investigates a networked bilateral control system affected by a contact force. The proposed system consists of rigid master and nonlinear flexible slave arms, and the network which causes a random delay connects both arms. The slave arm collides with an obstacle during its motion. An extended Kalman filter is designed to reduces the effect of the random delay. Numerical simulations is demonstrated to confirm the performance of the proposed system.

PDS Based Bilateral Control System for Nonlinear Flexible Master-Slave Arms with Random Delay Considering Contact with Obstacle

“…The linearized state space model of the flexible arm is derived and the Taylor series expansion form is applied [13].…”

“…The observation system is rewritten as follow by substituting the resultant function. (13) where dw o (t)(:= γ(t)dt) is an increment of Wiener process with zero-mean and its covariance R(:= E{dw 2 o (t)}). As seen in this function, the multiplicative noise defined as the product of the state x(t s ) and the random variable γ(t) appears.…”