论文信息 - A Force Referenced Bilateral Control Scheme for Heavy-Duty Power Manipulators

A Force Referenced Bilateral Control Scheme for Heavy-Duty Power Manipulators

Abstract This paper proposes a force referenced bilateral control scheme for heavy-duty power manipulators, which can compensate control input saturation. Also, design condition is presented for satisfying the stability of the proposed scheme. From the experimental results, it can be seen that the proposed scheme has an excellent tracking performance regardless of the saturated control input.

Sang Jeong Lee | Sung Ho Ahn | Ji Sup Yoon

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