Development of DSP-based control system for master-slave manipulation

A dual arm master-slave servo-manipulator system has been developed for use in a pyroprocess integrated demonstration facility at Korea Atomic Energy Research Institute. The slave manipulator with a reach of 1.6 m can handle a 25 kgf payload in any posture, where the gravity force of remote tools or handling equipment has a great impact on the position tracking error which produces the unnecessary force that operator does not have to feel. In this work, we developed a DSP-based remote control system and applied a time delay controller for accurate tracking control of the manipulator. Experimental results show that the time delay controller has good performance on the master-slave tracking task compared with the conventional PD controller.