Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2000.07d
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- Pages.2760-2762
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- 2000
Bilateral control of Master-Slave System with Ideal Response
이상적인 응답 특성을 갖는 Master-Slave System의 Bilateral Control
- Seo, Sam-Jun (Anyang University) ;
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Kim, Dong-Sik
(Soonchunhyang University) ;
- Park, Gwi-Tae (Korea University)
- Published : 2000.07.17
Abstract
The objective of this paper is to design a force feedback controller for bilateral control of a master-slave manipulator system. In a bilateral control system. the motion of the master device is followed by the save one. while the force applied to the slave is reflected on the master. In this paper, a proposed controller applied to the system. Adding a switching control term to control input. robustness is improved. Also the knowledge of the system dynamics is not needed. The computer simulation results show the performance of the proposed controller.
Keywords