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.

Investigation of bilateral control for hydraulic Stewart master–slave system

2014 ◽  
Vol 229 (15) ◽  
pp. 2706-2718 ◽  
Author(s):  
Hou Jingwei ◽  
Zhao Dingxuan
Keyword(s):  
Motion Tracking ◽  
Hydraulic Cylinder ◽  
Load Force ◽  
Slave System ◽  
Bilateral Control ◽  
Object A ◽  
Control Framework ◽  
Force Impact ◽  
The Stability ◽  
Master Slave System

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.

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

The Lower Extremity Exoskeleton Coordinated Control Method Based on Human Electromechanical Coupling

2012 ◽  
Vol 220-223 ◽  
pp. 1012-1017
Author(s):  
Qing Guo ◽  
Dan Jiang
Keyword(s):  
Lower Extremity ◽  
Electromechanical Coupling ◽  
Position Control ◽  
Control Method ◽  
Angular Displacement ◽  
Stability Margin ◽  
Hydraulic Cylinder ◽  
Load Force ◽  
Hydraulic Cylinders ◽  
Coupling Characteristics

This paper has introduced electromechanical coupling characteristics in the lower extremity exoskeleton systems, considered model ,according to legs supporting gait when people walking, established the load torque compensation model , and a mathematical model of knee position control system which is made of the servo valve, hydraulic cylinders and other hydraulic components, designed hydraulic cylinder position control loop in case of existing load force interference compensation, and used the method of combining the PID and lead correction network for frequency domain design ,ensured system to meet a certain stability margin. The simulation results show that this position control method can servo on the knee angular displacement of normal human walking, reached a certain exoskeleton boost effect, at the same time, met the needs of human-machine coordinated motion.

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