대한전기학회논문지:시스템및제어부문D (The Transactions of the Korean Institute of Electrical Engineers D)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

제어입력 포화를 가지는 원격조작기의 힘반영 제어

A Force Reflecting Control for Telemanipulators with Control Input Saturation

  • 발행 : 2000.10.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

When the manipulator consisting of high ratio gear reducers at its joints is used as the slave manipulator in teleoperated systems, its dynamic characteristics is much slower than that of the master manipulator and it is likely to encounter the saturation in the input magnitude. The control input saturation generates an windup phenomenon that the system stability and position tracking performance of the slave manipulator are to be deteriorated. This paper proposes an force reflecting control scheme and its design method which compensates the control input saturation with absolute stability. The proposed scheme is shown to give a stable force reflection while compensating for control input saturation effectively.

키워드

참고문헌

  1. W. S. Kim, 'Developments of new force reflecting control schemes and an application to a teleoperation training simulator', Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1412-1419, 1992 https://doi.org/10.1109/ROBOT.1992.220152
  2. Z. W. Luo and M. Ito, 'Control design of robot for compliant manipulation on dynamic environments', IEEE Trans. on Robotics and Automation, vol. 9, no. 3, pp. 286-296, 1993 https://doi.org/10.1109/70.240197
  3. W. S. Kim, B. Hannaford and A. K. Bejczy, 'Force reflection and shared compliance control in operating telemanipulators with time delay', IEEE Trans. on Robotics and Automation, vol. 8, no. 1, pp. 176-185, 1992 https://doi.org/10.1109/70.134272
  4. G. J. Raju, G. C. Verghese and T. B. Sheridan, 'Design issues in 2-port network models of bilateral remote manipulation', Proc. IEEE Int. Conf. Robotics and Automation, pp. 1316-1321, 1989 https://doi.org/10.1109/ROBOT.1989.100162
  5. B. Hannaford, 'A design framework for teleoperators with kinesthetic feedback', IEEE Trans. Robotics and Automation, vol. 5, no. 4, pp. 426-434, 1989 https://doi.org/10.1109/70.88057
  6. M. Uebel, M. Ali and I. Minis, 'The effect of bandwidth on telerobot system performance', IEEE Trans. on System, Man and Cybernetics, vol. 24, no. 2, pp. 342-348, 1994 https://doi.org/10.1109/21.281433
  7. N. Kircanski and A. Goldenberg, 'An experimental study of nonlinear stiffness, hysteresis, and friction effects in robot joints with harmonic drives and torque sensors', Int. Journal of Robotics Research, vol. 16, no 2. pp. 214-239, 1997 https://doi.org/10.1177/027836499701600207
  8. H. A. Fertik and C. W. Ross, 'Direct digital control algorithms with anti-windup feature', ISA Trans., vol. 6, no. 4, pp. 317-328, 1967
  9. R. Hanus, M. Kinnaert and J. L. Henrotte, 'Conditioning technique, a general anti-windup and bumpless transfer method', Automatica, vol. 23, no. 6, pp. 729-739, 1987 https://doi.org/10.1016/0005-1098(87)90029-X
  10. J. K. Park and C. H. Choi, 'Dynamic compensation method for multivariable control systems with saturating actuators', IEEE Trans. on Automatic Control, vol. 40, no. 9, 1995 https://doi.org/10.1109/9.412636
  11. A. Zheng, M. V. Kothare and M. Morari, 'Anti-windup design for internal model control', Int. J. Control, vol. 60, no. 5, pp. 1015-1024, 1994 https://doi.org/10.1080/00207179408921506
  12. L. Rundqwist, Anti-reset windup for PID controllers, Department of Automatic Control, Lund Institute of Technology, Sweden, 1991
  13. 안성호, 윤지섭, 이상정, '고감속비의 관절을 가지는 원격조작기의 힘반영 제어', 대한전자공학회 하계종합학술대회, V권, pp. 35-38, 2000
  14. 안성호, 윤지섭, 이상정, '원격조작기의 속도포화 보상 힘반영 제어', 제어.자동화.시스템 공학회 논문지, 제6권, 10호, pp. 894-902, 2000
  15. C. L. Phillips and H. T. Nagle, Digital control system analysis and design, Prentice-Hall, 1990
  16. K. S. Narendra and J. H. Tayler, Frequency domain criteria for absolute stability, Academic Press, New York, 1973
  17. G. F. Franklin, D. Powell and A. E. Naeini, Feedback control of dynamic systems, Addison-Wesley, 1994
  18. J. E. Slotine and W. Li, Applied nonlinear control, Prentice-Hall, 1991