Position-velocity based force feedback scheme of bilateral hydraulic servo control system

Author

Zhang, Zhuxin ; Zhao, Dingxuan

Author_Institution

Changchun Inst. of Technol., Changchun, China

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

790

Lastpage

794

Abstract

In order to solve the problems that the force signal of the slave is always mixed by large noise and the higher price of the force sensor, position-velocity type of force feedback algorithm is set up based on position feedback in the original bilateral hydraulic servo control system with force feedback in which the force feedback rod served by hydraulic is used as the master side. Least square is used for system identification and build force feedback model of slave free motion, according to the displacement differential between the master and slave to detect the slave´s contacting with environment. Experiments on the bilateral hydraulic servo control system with isomorphism master and slave verified the validity of the algorithm and it can be widely used to various hydraulic systems with force feedback control.

Keywords

force feedback; force sensors; hydraulic control equipment; least squares approximations; servomechanisms; bilateral hydraulic servocontrol system; displacement differential; force feedback control; force sensor; isomorphism master-slave; least square; position-velocity based force feedback scheme; slave free motion; Control systems; Force control; Force feedback; Force sensors; Hydraulic systems; Least squares methods; Master-slave; Motion detection; Servosystems; System identification; bilateral control; force feedback; hydrualic servo; least square; system identification;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2009. ICMA 2009. International Conference on

Conference_Location

Changchun

Print_ISBN

978-1-4244-2692-8

Electronic_ISBN

978-1-4244-2693-5

Type

conf

DOI

10.1109/ICMA.2009.5246226

Filename

5246226