Abstract
A passive control scheme for bilateral teleoperated one degree of freedom hydraulic actuator is proposed. The overall system enables a human operating a motorized joystick to feel as if he is manipulating a rigid mechanical tool with which the work environment is also in contact. By ensuring that the closed loop system behaves like a passive two port device, safety and stability when coupled to other systems are improved. The control scheme is developed by first passifying a four way directional control valve via active feedback, and then by the design of a passive teleoperation control based on the low frequency dynamics of the passified valve. The coordination error between the joystick and the hydraulic actuator converges to 0 for sufficiently low manipulation bandwidth. Experimental results verifies the characteristics of the control scheme.
Original language | English (US) |
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Pages (from-to) | 3932-3937 |
Number of pages | 6 |
Journal | Proceedings of the American Control Conference |
Volume | 5 |
DOIs | |
State | Published - 2001 |
Event | 2001 American Control Conference - Arlington, VA, United States Duration: Jun 25 2001 → Jun 27 2001 |