A force reflecting control scheme for telemanipulators with high reduction ratio joint

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.