Journal ArticleDOI
Bilateral Control Between Electric and Hydraulic Actuators Using Linearization of Hydraulic Actuators
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TLDR
Bilateral control realizes telemanipulation of remote robots with the sense of touch by combination of three key techniques, including oblique coordinate control and linearization of hydraulic actuators as third-order systems including oil compression by using disturbance observers.Abstract:
In this study, bilateral control between electric and hydraulic actuators is investigated. Bilateral control realizes telemanipulation of remote robots with the sense of touch. We focus on the system of local (master) robots, manipulated by operators that are driven by electric actuators, and slave robots, which work in remote places that are driven by hydraulic actuators. To obtain bilateral control in this situation, we find that combination of three key techniques is necessary. The first key is oblique coordinate control, which can decouple position and force controllers of bilateral control. The second key is linearization of hydraulic actuators as third-order systems including oil compression by using disturbance observers. In the absence of linearization, the design becomes practically impossible because of the need to apply complicated models. Since the master robots are second-order systems, and the slave robots are linearized as third-order systems, oblique coordinate control cannot be implemented. Then, the last key is the agreement of system order of electric and hydraulic actuators by using a pseudodifferentiator. Two conventional controllers and the proposed method are experimentally and analytically compared. The proposed method shows the best tracking performance and is the most stable in contact control among the three controllers.read more
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Adaptive finite‐time control for bilateral teleoperation systems with jittering time delays
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Modeling and resonance suppression control for electro-hydrostatic actuator as a two-mass resonant system
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Estimated Reaction Force-Based Bilateral Control between 3DOF Master and Hydraulic Slave Manipulators for Dismantlement
TL;DR: This research experimentally verifies that the slave device can follow the trajectory of the master device using the proposed bilateral control strategy based on the estimated reaction force.
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Adaptive Tracking Control of Hydraulic Systems With Improved Parameter Convergence
TL;DR: In this paper , a composite learning adaptive position tracking controller with improved parameter convergence for electro-hydraulic servo systems is proposed, where a prediction error is formulated to exploit input-output memory data, and parameter estimates are driven simultaneously by tracking and prediction errors.
References
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Stability and transparency in bilateral teleoperation
TL;DR: It is shown that a proper use of an four channels is of critical importance in achieving high performance telepresence in the sense of accurate transmission of task impedances to the operator.
Journal ArticleDOI
Motion control for advanced mechatronics
TL;DR: In this article, a technique to estimate disturbance is introduced to make motion controller to be an acceleration controller, which is a bridge to connect such robustness and variable stiffness in the controller.
Journal ArticleDOI
Torque sensorless control in multidegree-of-freedom manipulator
TL;DR: A torque sensorless control for a multi-degree-of-freedom manipulator and several experimental results are shown to confirm the validity of the proposed sensorless force controller.
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A design framework for teleoperators with kinesthetic feedback
TL;DR: It is shown that the hybrid model (as opposed to other two-port forms) leads to an intuitive representation of ideal teleoperator performance and applies to several teleoperator architectures.
Journal ArticleDOI
Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment
TL;DR: New control schemes of master-slave manipulators are proposed that provide the ideal kinesthetic coupling such that the operator can maneuver the system as though he/she were directly manipulating the remote object himself/herself.