대한전자공학회:학술대회논문집 (Proceedings of the IEEK Conference)
- 대한전자공학회 2000년도 하계종합학술대회 논문집(5)
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- Pages.35-38
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- 2000
고감속비의 관절을 가지는 원격조작기의 양방향 제어
A Bilateral Control for Telemanipulators with High Reduction Ratio Joints
초록
Since the telemanipulator consisting of high reduction ratio gear joints has a slow dynamics comparing with the master manipulator, its control signal is likely to be saturated resulting in poor tracking performance and deteriorated stability. This paper proposes a bilateral control scheme of a telemanipulator having high reduction ratio, which can compensate the control input saturation. The experimental results show that the proposed control scheme has excellent performances.
키워드