Bilateral Control of a Velocity Control System Using Electric and Hydraulic Actuators
作者: Daiki TakahashiSho SakainoToshiaki TsujiYasuyoshi Kaneko
作者单位: 1Saitama University Japan
刊名: Electrical Engineering in Japan, 2016, Vol.194 (1), pp.27-36
来源数据库: Wiley Journal
DOI: 10.1002/eej.22672
关键词: bilateral controlhydraulic actuatorelectric actuatorhaptics
原始语种摘要: SUMMARY(#br)Working in extreme environments (e.g., at disaster sites) is dangerous for humans. Hence, it is important to use teleoperated robots in such extreme environments. Because heavy lifting work is involved, hydraulic actuators with high output are more commonly used than electric actuators. Therefore, it is necessary to operate remotely controlled robots driven by hydraulic actuators. Bilateral control is remote control with a sense of force. Because most bilateral control systems have been studied mainly using electric actuators, bilateral control using hydraulic actuators is still a challenge. In this study, we propose placing a bilateral controller between an electric actuator on the master side and a hydraulic actuator on the slave side using position and velocity. The...
全文获取路径: Wiley  (合作)