Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Constrained Structured Sliding Mode Control for Position Tracking-Force Reflection Control of Master-Slave Manipulator

마스터-슬레이브 조작기의 위치추종-힘반영을 위한 제한 구조 슬라이딩모드 제어

  • Kang, Min-Sig (Department of mechanical and Automotive Engineering, Kyungwon Univ.)
  • 강민식 (경원대학교 기계.자동차공학과)
  • Received : 2010.02.03
  • Accepted : 2010.10.27
  • Published : 2010.12.01
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Abstract

In this study, position tracking and force reflection control of a master-slave manipulator which will be used for handling objects contaminated by radioactivity has been addressed. Since available measurements concerning on dynamic motion of the master-slave manipulator are restricted, a simple constrained control structure was suggested. In the consideration of the uncertain dynamic behaviors of the slave manipulator which is dependent upon mass and shape of work pieces grasped and dynamic properties of the environment contacted, a simple structured sliding mode control was suggested to guarantee robustness with respect to parameter uncertainties and external disturbances. The proposed control was applied to a 1-DOF master-slave link system. The control performances were verified along with some computer simulation results.

Keywords

References

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