Bondgraph based approach to passive teleoperation of a hydraulic backhoe

American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC

Volumn 73, Issue 1 PART A, 2004, Pages 395-404

  Krishnaswamy, Kailash ^a   Li, Perry Y ^b  

^a HONEYWELL   (United States)

^b University of Minnesota   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; CONTROL SYSTEMS; DEGREES OF FREEDOM (MECHANICS); KINEMATICS; MATHEMATICAL MODELS; VALVES (MECHANICAL);

BONDGRAPH; HIGH-POWER APPLICATIONS; PASSIVE VALVES; TELEOPERATION CONTROLLERS;

HYDRAULIC MACHINERY;

EID: 19644399524     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/IMECE2004-61244     Document Type: Conference Paper

References (15)

1. Li, P. Y., 2000. "Towards safe and human friendly hydraulics: The passive valve". ASME Journal of Dynamic Systems, Measurement and Control, 122, pp. 402-409.
2. Li, P. Y., and Krishnaswamy, K., 2001. "Passive bilateral teleoperation of an electrohydraulic actuator using an electrohydraulic passive valve". Proceedings of the American Control Conference, 5 [Jul.], pp. 3932-3937.
3. Krishnaswamy, K., and Li, P. Y., 2002. "Passification of a two-stage pressure control servo-valve". Proceedings of the American Control Conference, Anchorage, AK, 6 [May], pp. 4831-4836.
4. Krishnaswamy, K., and Li, P. Y., 2002. "Single degree of freedom passive bilateral teleoperation of an electrohydraulic actuator using a passive multi-stage valve". Proceedings of the IFAC Mechatronics Conference, Berkeley, CA [Dec].
5. Krishnaswamy, K., and Li, P. Y., 2003. "Passive teleoperation of a multiple degree of freedom hydraulic backhoe using a dynamic passive valve". Proceedings of the ASME-IMECE.
6. Vidyasagar, M., 1993. "Nonlinear systems analysis". Prentice Hall.
7. Li, P. Y., and Horowitz, R., 1997. "Control of smart exercise machines, part 1: problem formulation and non-adaptive control". IEEE/ASME Transactions on Mechatronics, 2, pp. 237-247.
8. Lee, D. J., and Li, P. Y., 2001. "Passive control of bilateral teleoperated manipulators: Theory". Proceedings of the American Control Conference, 6 [Jul.], pp. 4612-4618, Arlington, VA.
9. Colgate, J. E., Wannasuphoprasit, W., and Peshkin, M. A., 1996. "Cobots: Robots for collaboration with human operators". Proceedings of the ASME Dynamic Systems and Control Division, 58, pp. 433-439.
10. Gomes, M. W., and Book, W., 1997. "Control approaches for a dissipative passive trajectory enhancing robot". IEEE/ASME Conference on Advanced Intelligent Mechatronics.
11. Krishnaswamy, K., 2004. "Passive teleoperation of hydraulic systems". PhD Thesis. Available at http://www.me.umn.edu/~kk/thesis [May].
12. Lee, D., and Li, P., 2002. "Passive coordination control of nonlinear mechanical teleoperator". Submitted to IEEE Transactions on Robotics and Automation.
13. Gawthrop, P. J., 1995. "Bicausal bond graphs". Proceedings of the International Conference on Bond Graph Modeling and simulation (ICBGM), pp. 83-88.
14. Ngwompo, R. F., and Gawthrop, P. J., 1999. "Bond graph based simulation of nonlinear inverse systems using physical performance specifications". Journal of the Franklin Institute, 336, pp. 1225-1247.
15. Li, P. Y., and Ngwompo, R. F., 2002. "Passification of electrohydraulic valves using bond graphs". Proceedings of 15th IFAC World Congress [July].