Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2000.07d
- /
- Pages.2907-2909
- /
- 2000
Force Reflecting and Compliant Control for Heavy-Duty Power Manipulators
고하증 원격조작기의 힘반영 유연성 제어
-
Ahn, Sung-Ho
(Korea Atomic Energy Research Institute)
;
-
Yoon, Ji-Sup
(Korea Atomic Energy Research Institute)
;
-
Lee, Sang-Jeong
(Chungnam National Univ.)
- Published : 2000.07.17
Abstract
This paper proposes a force reflecting and compliant control scheme for the heavy-duty power manipulators with high ratio gear reducers at its joints. From the experimental results. it can be seen that the proposed scheme has an excellent compliant force control performance.
Keywords