Study on Master-Slave Control Method Using Load Force and Impedance Identifiers for Tele-Operated Hydraulic Construction Robot

Xiao Li

doi:10.4028/www.scientific.net/AMM.29-32.2170

Paper Titles

Measures of Protection against Electric Shock on EV
p.2144

The Asymptotical Stability Analysis for Switched Descriptor Systems
p.2150

Grey Evaluation Method on Security Risk Assessment of Power Information System
p.2157

Time-Varying Sliding Mode Control for Discrete-Time Nonlinear Uncertain Coupled Systems via Sliding Mode Prediction
p.2164

Study on Master-Slave Control Method Using Load Force and Impedance Identifiers for Tele-Operated Hydraulic Construction Robot
p.2170

Research on Control Strategy of Maximum Power Point Tracking of VSCF Wind Generation
p.2176

A Two-Stage Model of State Prognosis Based on Vibration Monitoring Information
p.2182

Investigation on Nonlinear Dynamics Characteristics of Vibration Friction System Based on Vibration Pile Driver
p.2189

A Speed Regulation System of DC Motor Based on PWM Technology
p.2194

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 29-32Study on Master-Slave Control Method Using Load...

Study on Master-Slave Control Method Using Load Force and Impedance Identifiers for Tele-Operated Hydraulic Construction Robot

Abstract:

A master-slave control method based on the identifications of load force and impedance for Tele-operated hydraulic construction robot system is presented in this paper. The robot system is composed of a hydraulic excavator and two joysticks. The hydraulic excavator is served as the construction robot. The joysticks are used for operating the robot in a remote region. The master actuator and the slave actuator in this system are the joystick-gear of a joystick and the fork-glove actuator of the excavator respectively. The load force and impedance identifiers are used for identifying the load force and impedance of the slave actuator respectively. According to the load force, the master controller controls the master actuator to generate the reaction force for operator. On the basis of the load impedance and the master slave error, the slave controller controls the slave actuator to perform a working task. The experimental researches confirmed that the operator not only obtains the force sense of the object accurately, but also obtains the deformation and stiffness senses of the object obviously.

You might also be interested in these eBooks

Applied Mechanics And Mechanical Engineering

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 29-32)

Pages:

2170-2175

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.29-32.2170

Citation:

Cite this paper

Online since:

August 2010

Authors:

Xiao Li

Keywords:

Construction Robot, Identifier, Master-Slave Control, Tele-Operated

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] H. Yamada, S. Mukota, D.X. Zhao, et al, Proc. of VSMM98, Vol. 1 (1998), pp.152-157.

Google Scholar

[2] H. Yamada, H. Kato, T. Muto, Journal of Robotics and Mechatronics, Vol. 15, No. 1 (2003), pp.54-60.

Google Scholar

[3] H. Kato, H. Yamada, T. Muto, Journal of the Japan Hydraulics and Pneumatics Society, Vol. 34, No. 4 (2003), pp.85-917.

Google Scholar

[4] H. Yamada, T. Muto, International Journal of Fluid Power, Vol. 4, No. 2 (2003), pp.35-42.

Google Scholar

[5] X. Li, H. Yamada, H, in: Y.X. Lu, Q.F. Wang, W. Li (ed. ), Proc. 6 th Int. Con. on Fluid Power Transmission and Control, Hangzhou, International Academic Publishers (2005), pp.661-665.

Google Scholar