3 자유도 고하중 원격조작기의 힘반영 제어

Force Reflecting Control for 3-DOF Heavy-Duty Power Telemanipulators

The heavy duty power manipulate generally has high ratio gear reducers at its joints. When it is used as a slave manipulator in the teleoperation system, therefore, the control input saturates frequently and its tracking performance and stability ate also likely to be deteriorated. This paper proposes a force reflecting control scheme for the manipulator with control input saturation. A series of experiments are shown to give excellent tracking performance with force reflection regardless of control input saturation.