scholarly journals Force-Sensor-Less Bilateral Teleoperation Control of Dissimilar Master-Slave System With Arbitrary Scaling

2021 ◽  
pp. 1-15
Author(s):  
Santeri Lampinen ◽  
Janne Koivumaki ◽  
Wen-Hong Zhu ◽  
Jouni Mattila
Keyword(s):  
Force Sensor ◽  
Slave System ◽  
Bilateral Teleoperation ◽  
Master Slave System

scholarly journals Development of a Hydraulic Force-Display (Application to One-DOF Master-Slave Control)

2003 ◽  
Vol 15 (1) ◽  
pp. 39-46
Author(s):  
Hironao Yamada ◽  
◽  
Shigeki Kudomi ◽  
Yoshinori Niwa ◽  
Takayoshi Muto ◽  
...  
Keyword(s):  
Force Sensor ◽  
Input Device ◽  
Display Device ◽  
Slave System ◽  
Servo Systems ◽  
Hydraulic Force ◽  
Hydraulic Servo ◽  
Hydraulic Servo System ◽  
Reference Input ◽  
Master Slave System

In this study, we deal with a bilateral master-slave system for tele-robotics composed of electro-hydraulic servo-systems. In a teleoperated master-slave system, the master has to play two roles, firstly as a reference input device to the slave and secondly as a force display device. In order to produce a force display composed of hydraulic servo-systems, we must solve a problem called back-drivability, in which the actuator in a hydraulic servo-system cannot be operated freely by manual means. As a practical solution to this problem, we propose a driving method for the actuator that uses a force sensor attached to the actuator Furthermore, as an application of the proposed force display, we construct a bilateral master-slave system coposed of electro-hydraulic servo-systems. Experimental results of the manipulate on of motion by this system are presented and, consequently, the validity of the hydraulic force-display was confirmed.

Development of 5-DOFs Master-Slave system with intentional adjustment of hysteresis based on antagonistic tendon control

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

scholarly journals Development of a Hydraulic Parallel Link Force Display -Improvement of Manipulability Using a Disturbance Observer and its Application to a Master-slave System-

2003 ◽  
Vol 15 (4) ◽  
pp. 391-397 ◽  
Author(s):  
Shigeki Kudomi ◽  
◽  
Hironao Yamada ◽  
Takayoshi Muto ◽  
Keyword(s):  
Dynamic Performance ◽  
Load Force ◽  
Slave System ◽  
Disturbance Compensation ◽  
Practical Application ◽  
Hydraulic Cylinders ◽  
Six Dof ◽  
Parallel Link ◽  
Hydraulic Manipulator ◽  
Master Slave System

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.

Simulation Research on Hydraulic Stewart Force Feedback Master-Slave System

2013 ◽  
Vol 347-350 ◽  
pp. 3954-3959
Author(s):  
Jing Wei Hou ◽  
Ding Xuan Zhao ◽  
Ying Zhao ◽  
Yu Xin Cui
Keyword(s):  
Force Feedback ◽  
Controller Design ◽  
Load Force ◽  
Force Model ◽  
Slave System ◽  
Simulation Research ◽  
Control Framework ◽  
Hydraulic Servo ◽  
The Relationship ◽  
Master Slave System

a virtual prototype program of hydraulic Stewart force feedback master-slave system is developed to solve the modeling problems when plant developing and controller design. The following work is done based on the Stewart manipulator simulation program built in Matlab/SimMechanics platform: 1. Master/slave force feedback control framework is built based on the relationship between force on cylinders and upper platform.; 2. A new Stewart platform with load force model on the upper platform hydraulic servo system is built as the slave hand. The validity of the functions is verified by simulation experiment.

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