0

Full Content is available to subscribers

Subscribe/Learn More  >

Position-Mode Haptic-Based Control of Teleoperated Hydraulic Actuators

[+] Author Affiliations
Kurosh Zarei-nia, Nariman Sepehri

University of Manitoba, Winnipeg, MB, Canada

Paper No. DSCC2011-6139, pp. 85-92; 8 pages
doi:10.1115/DSCC2011-6139
From:
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5475-4
  • Copyright © 2011 by ASME

abstract

A control scheme for teleoperation of hydraulic actuators, using a haptic device, is developed and experimentally evaluated in this paper. In the control laws, the position error between the displacement of the haptic device and the hydraulic actuator movement is used at both master and slave sides to maintain good position tracking at the actuator side while providing a haptic force to the operator. Lyapunov’s stability theory and LaSalle’s invariant set theorems are employed to prove the asymptotic stability of the system. It is shown that beside stability, the system performs well in terms of position tracking of the hydraulic actuator and providing a feel of telepresence to the operator. Proposed controller only needs system’s pressures and displacements that are easy to obtain via on-line measurements. Additionally, the controller does not need any information about the parameters of the system. These characteristics make the controller very attractive from the implementation view point.

Copyright © 2011 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In