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A force reflecting control scheme for telemanipulators with high reduction ratio joint

Published online by Cambridge University Press:  23 January 2002

Sung-Ho Ahn ,
Ji-Sup Yoon  and
Sang-Jeong Lee
Sung-Ho Ahn
Affiliation:
Department of Spent Fuel Remote Handling Technology, Korea Atomic Energy Research Institute, 150 Dukjin-Dong, Yusong-Gu, Daejeon, 305-353 (Korea).
Ji-Sup Yoon
Affiliation:
Department of Spent Fuel Remote Handling Technology, Korea Atomic Energy Research Institute, 150 Dukjin-Dong, Yusong-Gu, Daejeon, 305-353 (Korea).
Sang-Jeong Lee
Affiliation:
Department of Electronics Engineering, Chungnam National University, 220 Gung-Dong, Yusong-Gu, Daejeon, 305-764 (Korea).
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Abstract

Since a slave manipulator with a high reduction ratio joint generally has slow dynamics in comparison with a master manipulator in telemanipulation systems, its control input is likely to be saturated resulting in poor position tracking performance and deteriorated stability. This paper proposes a force reflecting control scheme for telemanipulators with a high reduction ratio joint, which can effectively compensate the control input saturation caused by the high ratio gear reducer at its joint. The proposed scheme is also shown to guarantee the stability and provides an excellent position tracking performance regardless of the saturation.

Keywords

Force reflecting controlTelemanipulation systemInput saturationAnti-windupHeavy-duty power manipulator
Type
Research Article
Information
Robotica , Volume 20 , Issue 1 , January 2002 , pp. 69 - 79
Copyright
© 2002 Cambridge University Press

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