Conditioning technique, a general anti-windup and bumpless transfer method
Automatica (Journal of IFAC)
Digital control system analysis and design (2nd ed.)
Digital control system analysis and design (2nd ed.)
International Journal of Robotics Research
Feedback Control of Dynamic Systems
Feedback Control of Dynamic Systems
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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.