Title :
Position-velocity based force feedback scheme of master-slave hydraulic servo control system
Author :
Zhang, Zhuxin ; Zhao, Dingxuan ; Hou, Jingwei
Author_Institution :
Changchun Inst. of Technol., Jilin, China
Abstract :
A bilateral hydraulic servo control system is build for teleportation force feedback. The bilateral servo system is a master-slave system in which the hydraulic force feedback joysticks works as the master part. The system control scheme is based on the control character, and a position-velocity force feedback scheme which shows good transparency on the condition of soft and unloaded is proposed by analysing the impedance of the system. An experiment in a master-slave system in which the master part and slave part is of the same structure is completed to test the invalidation of the scheme. The result shows that the scheme is of good performance and can be used in the force feedback control of manifold hydraulic systems.
Keywords :
force feedback; hydraulic systems; interactive devices; manifolds; position control; satellite computers; servomechanisms; teleportation; velocity control; bilateral hydraulic servo control system; force feedback control; joysticks; manifold hydraulic systems; master-slave system; position control; teleportation force feedback; velocity control; Fluids; Force; Force feedback; Manipulators; Master-slave; Servomotors; Electro-hydraulic servo system; Force reflection servo type control strategy; Force symmetry type control strategy; Force tele-presence; Master-slave robots;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5554631
