Force Reflecting Position Control for 2 Axes Heavy-Duty Power Manipulators

2축 고하중 조작기의 힘반영 위치제어

Since the heavy-duty power manipulator has high ratio gear reducers at its joints, its dynamic characteristics are much slower than that of the master manipulator and it is likely to encounter the saturation in the input magnitude when it is used as the slave manipulator in telemanipulator systems. This paper proposes a force reflecting position control scheme for 2 axes heavy-duty power manipulator which compensates control input saturation. A series of experiments is shown to give an excellent tracking performance regardless of saturation.