대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2000년도 하계학술대회 논문집 D
- /
- Pages.2910-2912
- /
- 2000
2축 고하중 조작기의 힘반영 위치제어
Force Reflecting Position Control for 2 Axes Heavy-Duty Power Manipulators
- Ahn, Sung-Ho (Korea Atomic Energy Research Institute) ;
- Park, Byung-Suk (Korea Atomic Energy Research Institute) ;
- Yoon, Ji-Sup (Korea Atomic Energy Research Institute) ;
- Koh, Youn-Se (Kongju National Univ.) ;
- Lee, Sang-Jeong (Chungnam National Univ.)
- 발행 : 2000.07.17
초록
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.
키워드