대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2000년도 하계학술대회 논문집 D
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- Pages.2760-2762
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- 2000
이상적인 응답 특성을 갖는 Master-Slave System의 Bilateral Control
Bilateral control of Master-Slave System with Ideal Response
- Seo, Sam-Jun (Anyang University) ;
- Kim, Dong-Sik (Soonchunhyang University) ;
- Park, Gwi-Tae (Korea University)
- 발행 : 2000.07.17
초록
The objective of this paper is to design a force feedback controller for bilateral control of a master-slave manipulator system. In a bilateral control system. the motion of the master device is followed by the save one. while the force applied to the slave is reflected on the master. In this paper, a proposed controller applied to the system. Adding a switching control term to control input. robustness is improved. Also the knowledge of the system dynamics is not needed. The computer simulation results show the performance of the proposed controller.
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