A teleoperation position control for 2-DOF manipulators with control input saturation

When a manipulator consisting of high reduction ratio joints is used as a telemanipulator in teleoperated systems, it has slow dynamics in comparison with the master manipulator and its control inputs are likely to be saturated. The saturation of the control inputs causes a windup phenomenon that the system stability and position tracking performance of the telemanipulator are deteriorated. This paper proposes a teleoperation position control scheme for 2-DOF manipulators with control input saturation, which compensates for saturation. The proposed scheme has an anti-windup feature as well as a force reflecting feature caused by the saturations. The proposed scheme improves the spatial position coincidence between the handgrip of master manipulator and the end-effector of the telemanipulator, and provides a precise position control of the telemanipulator. Experimental results show excellence of the proposed scheme.