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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Guang Wen Mingde Gong Hongyan Zhang |
| Copyright Year | 2011 |
| Description | Author affiliation: Institute of Mechanical Science and Engineering, Jilin University, Chang Chun, China (Mingde Gong; Hongyan Zhang) || Department of Machinery and Engineering, Pan-zhihua University, Pan-zhihua, Sichuan Province, 617000, China (Guang Wen) |
| Abstract | Tele-operated bilateral hydraulic servo system with master-slave robot at the core can be complex manipulated in uncertain or extreme environment (such as space, seabed, radialization, battlefield, etc.). In this paper, it mainly researches control a force feedback bilateral master-slave servo system which is composed of electro-hydraulic servo system. In a tele-operated master-slave system, the master plays as a reference input device to the slave as well as a force feedback device. In order to feel a force fed back from the slave by the operator, a problem called back-drivability must be solved which an actuator in a hydraulic servo-system cannot be operated freely by manual means. As a practical solution to this problem, a driving method of actuator is proposed that a force sensor is used to attach the actuator. Furthermore, as an application of the sense of force proposed, a bilateral master-slave system is constructed which is composed of electro-hydraulic control system. Experimental results are given and shown that the “sense of force” can be fed by operator sensitively. |
| Starting Page | 916 |
| Ending Page | 919 |
| File Size | 230547 |
| Page Count | 4 |
| File Format | |
| ISBN | 9781424481132 |
| ISSN | 21527431 |
| e-ISBN | 9781424481156 |
| DOI | 10.1109/ICMA.2011.5985712 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2011-08-07 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Force Master-slave Servomotors Springs Pistons Tires tele-robot bilateral control experimental apparatus force feedback |
| Content Type | Text |
| Resource Type | Article |
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