A bilateral servo system design for master-slave manipulators

마스터-슬레이브형 원격 조작기의 쌍방향 서보제어기 제작에 관한 연구

Basic types of bilateral servo systems were described and practical consideration in the bilateral servo controller design was introduced. Power assistance to the operator is essential for high efficiency and accurate force reflection is necessary for dexterous manipulation. This paper shows a controller structure under development at KIMM which employs nonlinear friction compensation and memory based gravity compensation technique for efficiency and dexterity.