대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2001년도 하계학술대회 논문집 D
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- Pages.2414-2416
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- 2001
고하중 매니퓰레이터의 양방향 제어 알고리즘
Bilateral Control Algorithm for Heavy-Duty Power Manipulators
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Ahn, Sung-Ho
(Korea Atomic Energy Research Institute) ;
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Park, Byung-Suk
(Korea Atomic Energy Research Institute) ;
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Kim, Sung-Hyun
(Korea Atomic Energy Research Institute) ;
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Lee, Jong-Youl
(Korea Atomic Energy Research Institute) ;
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Yoon, Ji-Sup
(Korea Atomic Energy Research Institute)
- 발행 : 2001.07.18
초록
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.
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