제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2003년도 ICCAS
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- Pages.1571-1574
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- 2003
A Shared Compliant Control Scheme based on Internal Model Control
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Ahn, Sung-Ho
(Department of Spent Fuel Remote Handling Technology, Korea Atomic Energy Research Institute)
;
- Jin, Jae-Hyun (Department of Spent Fuel Remote Handling Technology, Korea Atomic Energy Research Institute) ;
- Park, Byung-Suk (Department of Spent Fuel Remote Handling Technology, Korea Atomic Energy Research Institute) ;
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Yoon, Ji-Sup
(Department of Spent Fuel Remote Handling Technology, Korea Atomic Energy Research Institute)
- 발행 : 2003.10.22
초록
A shared compliant control scheme based on IMC is proposed for the position-force force reflecting control system. The controller of the slave manipulator is designed by IMC method for the open loop unstable plant. The compliant control is implemented by first order low pass filter. In the proposed scheme, the slave manipulator well tracks the position of the master manipulator in free space and the compliance of the slave manipulator is autonomously controlled in contact condition. The simulation results show that the excellence of the proposed controller.