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This paper presents a control method of flexible master-slave manipulators (FMSM) with a rigid master arm and a flexible slave arm. The proposed control system is constructed on the basis of the conventional force reflecting servo type bilateral control in consideration of elasticity of the slave arm. The disturbance observer is used to compensate for friction torque of motors. In order to reduce the effect of elastic vibrations on the control performance, we design the tip angle control and the vibration control on the basis of the concept of the decomposition of elastic vibrations in the strain gage signal. When applying this concept to FMSM, the input shaping technique is used to eliminate the frequency component exciting elastic vibration modes from the master angle signal that is a reference input to the slave system. Some experimental results show the effectiveness of the proposed controller.

Control of One-Link Flexible Master-Slave Manipulator Based on Decomposition of Elastic Vibration