Proceedings of the Korean Society of Machine Tool Engineers Conference (한국공작기계학회:학술대회논문집)
- 2001.04a
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- Pages.234-238
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- 2001
The Real Time Robust Control of a Force Reflecting Master-arm Integrated with a Robot
Force Reflection 기능을 갖는 Master Arm의 실시간 견실에 관한 연구
Abstract
A lot of researches have been done in teleoperation field. For accurate and reliable teleoperation, force reflection is required so that the master can feel the same force, which is measured at reflection have been applied to most of the master device. Therefore the master can not control the force exerted by the slave robot to the environment. But some tasks such as an insertion with very small tolerance, skewing bolt and so forth, require the force command from the master.
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