A digital control method applied to master-slave manipulator systems

This paper presents experimental results on the digital control of a master-slave manipulator system, which is designed to realize high-fidelity telemanipulation and stability even though the task object parameters are changed. The authors design a double structured digital controller consisting of disturbance observers and a master-slave controller. The validity of the proposed control method is confirmed experimentally for a single DOF master-slave system.<
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