Bilateral Control Algorithm for Heavy-Duty Power Manipulators

고하중 매니퓰레이터의 양방향 제어 알고리즘

When a heavy-duty power manipulator with high reduction ratio joints is used as telemanipulator in teleoperated systems, its control inputs are frequently saturated resulting in deteriorated stability and poor position tracking performance. This paper proposes a bilateral control algorithm for 3-DOF heavy-duty power manipulators, which compensates for saturation. The proposed bilateral control algorithm provides precise position control performance regardless of saturation.