위치.속도 제어 방식을 이용한 매스터 컨트롤러 지능형 혼합 제어 알고리즘

Abstract

The control modes used in teleoperation are position control mode, and rate control mode. This paper presents the problems of the conventional control modes, through simulation, proposes an intelligent mixed control mode that converts the operation mode between the position mode and the rate mode intelligently by judging the operator's intention using the real-time measurement data. The effectiveness of the proposed intelligent mixed control mode is demonstrated and compared to other typical control modes through simulation and actual experiment.