| Title |
A Force Reflecting Control for Telemanipulators with Control Input Saturation |
| Authors |
안성호(Ahn, Sung-Ho) ; 윤지섭(Yoon, Ji-Sup) ; 이상정(Lee, Sang-Jeong) |
| Keywords |
force reflecting control ; teleperation control ; anti-windup control ; heavy-duty power manipulator |
| Abstract |
When the manipulator consisting of high ratio gear reducers at its joints is used as the slave manipulator in teleoperated systems, its dynamic characteristics is much slower than that of the master manipulator and it is likely to encounter the saturation in the input magnitude. The control input saturation generates an windup phenomenon that the system stability and position tracking performance of the slave manipulator are to be deteriorated. This paper proposes an force reflecting control scheme and its design method which compensates the control input saturation with absolute stability. The proposed scheme is shown to give a stable force reflection while compensating for control input saturation effectively. |