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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Zhuxin Zhang Dingxuan Zhao Tiehua Chen |
| Copyright Year | 2007 |
| Description | Author affiliation: Jilin Univ., Changchun (Zhuxin Zhang; Dingxuan Zhao) |
| Abstract | The master-slave force feedback bilateral control system has been set up in this paper. The master manipulator is a 2-DOF system, which adopts servo valves to control hydraulic servomotors to obtain two rotational degrees, and force information is used to control the servo valve so the master manipulator hydraulic servomotor can be droved. Thus the problem that the master can't directly drive the hydraulic motor is solved. The slave manipulator is a 4-DOF system that the original hydraulic shovel bucket is replaced by a new single degree manipulator claw, which set up a series joint type 4-DOF robot. Hydraulic proportional valve control method is applied to the slave manipulator. In the experimental system, two 2-DOF master manipulators were employed to control the 4-DOF slave robot. Force reflection servo and force symmetry servo bilateral servo control strategies are individually tested on the master-slave system to study the tele-operated force feedback bilateral servo control. Through theory analysis and experimental tests, it is proved that the master's structure is reasonable, and the force symmetry servo bilateral servo control strategy has perfect control performances. |
| Starting Page | 913 |
| Ending Page | 917 |
| File Size | 285231 |
| Page Count | 5 |
| File Format | |
| ISBN | 9781424415311 |
| DOI | 10.1109/ICAL.2007.4338696 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2007-08-18 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Force tele-presence Force feedback Force symmetry servo type control strategy Master-slave Electro-hydraulic servo system Manipulators Control systems Valves Servosystems Force reflection control method Tele-operated Servomechanisms Force control Servomotors Robots Master-slave robots Force reflection servo type control strategy |
| Content Type | Text |
| Resource Type | Article |
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