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Full-Dynamics-Based Bilateral Teleoperation of Hydraulic Robotic Manipulators

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Details

Original languageEnglish
Title of host publication2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)
PublisherIEEE
Pages1343-1350
Number of pages8
ISBN (Electronic)978-1-5386-3593-3
ISBN (Print)978-1-5386-3594-0
DOIs
Publication statusPublished - Aug 2018
Publication typeA4 Article in a conference publication
EventIEEE International Conference on Automation Science and Engineering -
Duration: 1 Jan 1900 → …

Publication series

Name
ISSN (Electronic)2161-8089

Conference

ConferenceIEEE International Conference on Automation Science and Engineering
Period1/01/00 → …

Abstract

Teleoperated robotic manipulators can augment human capabilities to remotely operate environments which are hard to reach or too dangerous for humans. Furthermore, in teleoperated tasks where heavy objects are manipulated or great forces are needed, a hydraulic slave manipulator may be the only suitable option. Motivated by the recent advances in nonlinear model-based (NMB) control of hydraulic robotic manipulators, this study proposes a full-dynamics-based bilateral force-reflected teleoperation, which is designed between a multiple degrees-of-freedom (n-DOF) electrical master manipulator and an n-DOF hydraulic slave manipulator. Based on the authors' knowledge, this is the first time that such a system is designed for the teleoperation of hydraulic manipulators. The individual controllers for the master and slave manipulators are designed based on the virtual decomposition control (VDC) approach. Furthermore, a communication channel is designed to couple the two manipulators. Very importantly, this allows arbitrary motion and force scaling between the master and slave manipulators. The performance of the proposed method is demonstrated with a full-scale two-DOF hydraulic slave manipulator.

Keywords

  • hydraulic systems, manipulators, motion control, nonlinear control systems, position control, telerobotics, dynamics-based bilateral teleoperation, hydraulic robotic manipulators, teleoperated robotic manipulators, teleoperated tasks, hydraulic slave manipulator, nonlinear model-based control, full-dynamics-based bilateral force-reflected teleoperation, electrical master manipulator, virtual decomposition control, VDC approach, communication channel, NMB control

Publication forum classification

Field of science, Statistics Finland