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http://dx.doi.org/10.5050/KSNVN.2009.19.10.1043

Tendon Design for Master-slave Manipulator in Consideration of Constrained Force Reflection Control Structure  

Kang, Min-Sig (경원대학교 기계자동차공학과)
Yoon, Woo-Hyun (경원대학교 토목공학과)
Publication Information
Transactions of the Korean Society for Noise and Vibration Engineering / v.19, no.10, 2009 , pp. 1043-1052 More about this Journal
Abstract
In this work, a master-slave manipulator system which will be used for handling objects contaminated by radioactivity has been addressed. The links of manipulators are driven independently by individual motors installed on the base and the driving torque is transmitted through pre-tensioned tendons. Since the measurable variables are the positions and rates of master/slave motors, only a constrained specific bilateral control structure is available. In the consideration of the flexibility of the tendon and constrained control structure, we derived a necessity for tendon design to prevent uncontrollable vibration mode through a modal analysis. Based on a reduced rigid body model, a control design was suggested and tendons were selected. The feasibility of the proposed analysis and tendon design were verified along with some simulation results.
Keywords
Master-slave Manipulator; Bilateral Control; Tendon; Position Tracking; Force Reflection; Modal Analysis;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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