A Bilateral Control for Telemanipulators with High Reduction Ratio Joints

고감속비의 관절을 가지는 원격조작기의 양방향 제어

Since the telemanipulator consisting of high reduction ratio gear joints has a slow dynamics comparing with the master manipulator, its control signal is likely to be saturated resulting in poor tracking performance and deteriorated stability. This paper proposes a bilateral control scheme of a telemanipulator having high reduction ratio, which can compensate the control input saturation. The experimental results show that the proposed control scheme has excellent performances.