대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2000년도 하계학술대회 논문집 D
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- Pages.2907-2909
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- 2000
고하증 원격조작기의 힘반영 유연성 제어
Force Reflecting and Compliant Control for Heavy-Duty Power Manipulators
-
Ahn, Sung-Ho
(Korea Atomic Energy Research Institute)
;
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Yoon, Ji-Sup
(Korea Atomic Energy Research Institute)
;
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Lee, Sang-Jeong
(Chungnam National Univ.)
- 발행 : 2000.07.17
초록
This paper proposes a force reflecting and compliant control scheme for the heavy-duty power manipulators with high ratio gear reducers at its joints. From the experimental results. it can be seen that the proposed scheme has an excellent compliant force control performance.
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