Simulation Research on Hydraulic Stewart Force Feedback 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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Simulation Research on Hydraulic Stewart Force Feedback Master-Slave System

Proceedings of the 2nd International Conference on Computer Science and Electronics Engineering (ICCSEE 2013) ◽

10.2991/iccsee.2013.611 ◽

2013 ◽

Author(s):

Jingwei Hou ◽

Dingxuan Zhao ◽

Ying Zhao ◽

Yuxin Cui

Keyword(s):

Force Feedback ◽

Slave System ◽

Simulation Research ◽

Master Slave System

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Investigation of bilateral control for hydraulic Stewart master–slave system

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/0954406214563111 ◽

2014 ◽

Vol 229 (15) ◽

pp. 2706-2718 ◽

Cited By ~ 1

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.

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

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2003.p0391 ◽

2003 ◽

Vol 15 (4) ◽

pp. 391-397 ◽

Cited By ~ 6

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.

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Application of Master-Slave System with Virtual Force-Feedback

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2003.106_4 ◽

2003 ◽

Vol 2003 (0) ◽

pp. 106

Author(s):

M. Ando ◽

N. Tsuda ◽

N. Kato ◽

Y. Nomura ◽

H. Matsui

Keyword(s):

Force Feedback ◽

Slave System ◽

Virtual Force ◽

Master Slave System

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

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2003.p0039 ◽

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.

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