An approach to bilateral control strategy for nonidentical master-slave system

Author(s):  
Hideaki Tai ◽  
Toshiyuki Murakami
Author(s):  
Hou Jingwei ◽  
Zhao Dingxuan

A master–slave system consisting of a hydraulic Stewart mechanism is developed. This system can be used for grinding complex curved surfaces while keeping the operator away from the harmful dust produced. To solve the feedback force impact problem when the slave platform makes contact with a rigid object, a motion tracking controller with a strategy-switch algorithm is designed for the master site. For the slave platform, an H∞ controller with antiwindup synthesize is first designed. The H∞ controller ensures position accuracy during motion. The antiwindup controller ensures the stability of the hydraulic cylinder when the load force limitations are reached, which may cause the upper platform to move to uncertain direction and the function of the manipulator changes worse rapidly. Those are achieved using a new work-space-based bilateral servo control framework by which the machining precision requirement can be decreased compared to that in the leg-space-based framework. Simulations and experiments are performed to verify the performance of these algorithms.


2019 ◽  
Author(s):  
Hansoul Kim ◽  
◽  
Joonhwan Kim ◽  
Minho Hwang ◽  
Dong-Soo Kwon ◽  
...  

2003 ◽  
Vol 15 (4) ◽  
pp. 391-397 ◽  
Author(s):  
Shigeki Kudomi ◽  
◽  
Hironao Yamada ◽  
Takayoshi Muto ◽  

We previously developed a six-DOF parallel link force display that is actuated by six hydraulic cylinders. The manipulability of the display, however, was insufficient at first, because the dynamic performance of each cylinder was not necessarily the same as that of the others. To overcome this problem, in the present study we have applied disturbance compensation to improve manipulability. To demonstrate a practical application of this force display, we have also constituted a master-slave system in which the display is adopted as the master, and the same type of hydraulic manipulator is adopted as the slave. An operator manipulated the system so that the slave touched a flexible object serving as a load. Our experiments confirmed that the system was controlled with relatively good dynamic performance, and that the operator was able to feel the load force sensitively through the force display.


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