원격 작업 시 환경인식센서의 자세제어를 위한 3링크 유압 매니플레이터 개발

A posture controller for three-link Electro-hydraulic manipulator(RemoEye) has been developed in our laboratory. This manipulator can control 3D Scanner posture (X,Y,θ) using Electro-hydraulic motor because of its high output power and low Power consumptions. This paper describes the posture controller and presents supporting simulations and experimental results. First, an analysis of Dynamics and kinematics is made and simulation using MATLAB is tried. Experiments with RemoEye show the designed controller has a good performance.