Experimental evaluation of bilateral control schemes applied to hydraulic actuators: A comparative study

Transactions of the Canadian Society for Mechanical Engineering

Volumn 33, Issue 3, 2009, Pages 377-398

  Zarei Nia, Kurosh ^a   Goharrizi, Amin Yazdanpanah ^a   Sepehri, Nariman ^a   Fung, Wai Keung ^a  

^a UNIVERSITY OF MANITOBA   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

ERRORS; MECHANICAL ACTUATORS; TRACKING (POSITION);

BILATERAL CONTROL; COMPARATIVE STUDIES; ELECTROMECHANICAL SYSTEMS; ENVIRONMENTAL FORCES; EXPERIMENTAL EVALUATION; FORCE REFLECTION; TRACKING CAPABILITY; UNCONSTRAINED MOTION;

HYDRAULIC ACTUATORS;

EID: 77955797105     PISSN: 03158977     EISSN: None     Source Type: Journal    
DOI: 10.1139/tcsme-2009-0027     Document Type: Article

References (20)

1. Kontz, M.E., Beckwith, J. and Book, W.J., "Evaluation of a teleoperated haptic forklift," IEEE/ASME International Conference on Advanced Intelligent Mechatronics (IEEE Cat. No. 05TH8801), Vol.1 ed Piscataway, NJ, USA: IEEE, pp. 295-300, 2005.
2. Tafazoli, S., Salcudean, S.E., Hashtrudi-Zaad, K. and Lawrence, P.D., "Impedance control of a teleoperated excavator," IEEE Transactions on Control Systems Technology, Vol.10, No.3, pp. 355-367, May, 2002.
3. Papadopoulos, E., Mu, B. and Frenette, R."On modeling, identification, and control of a heavy-duty electrohydraulic harvester manipulator," IEEE/ASME Transactions on Mechatronics, Vol.8, No.2, pp. 178-187, 2003.
4. Kontz, M.E., Herrera, M.C., Huggins, J.D. and Book, W.J., "Impedance shaping for improved feel in hydraulic systems," ASME International Mechanical Engineering Congress Exposition, Proceedings, 4 ed Seattle, WA, United states: American Society of Mechanical Engineers, pp. 185-194, 2008.
5. Oboe, R. and Fiorini, P., "A design and control environment for Internet-based telerobotics," International Journal of Robotics Research, Vol.17, No.4, pp. 433-449, April, 1998.
6. Hokayem, P.F. and Spong, M.W., "Bilateral teleoperation: An historical survey," Automatica, Vol.42, No.12, pp. 2035-2057, December, 2006.
7. Lawrence, D.A., "Stability and transparency in bilateral teleoperation," IEEE Transactions on Robotics and Automation, Vol.9, No.5, pp. 624-637, October, 1993.
8. Hannaford, B., "Stability and performance tradeoffs in bi-lateral telemanipulation," Proceedings. 1989 IEEE International Conference on Robotics and Automation (Cat. No.89CH2750-8), Vol.3, pp. 1764-1767, May 14-19, 1989.
9. Lawrence, P.D., Salcudean, S.E., Sepehri, N., Chan, D., Bachmann, S., Parker, N., Zhu, M. and Frenette, R., "Coordinated and force-feedback control of hydraulic excavators," Experimental Robotics IV. 4th International Symposium, Berlin, Germany: Springer-Verlag, pp. 181-194, 1997.
10. Book, W.J., "Haptics for and by hydraulics," 16th IEEE International Conference on Robot and Human Interactive Communication, Piscataway, NJ, USA: IEEE, pp. 1-2, 2007.
11. Kim, W.S., "Developments of new force reflecting control schemes and an application to a teleoperation training simulator," Proceedings - IEEE International Conference on Robotics and Automation, 2 ed Nice, Fr: Publ by IEEE, pp. 1412-1419, 1992.
12. Kim, W.S., Hannaford, B. and Fejczy, A.K., "Force-reflection and shared compliant control in operating telemanipulators with time delay," IEEE Transactions on Robotics and Automation, Vol.8, No.2, pp. 176-185, April, 1992.
13. Niemeyer, G. and Slotine, J.J., "Stable adaptive teleoperation," IEEE Journal of Oceanic Engineering, Vol.16, No.1, pp. 152-162, 1991.
14. Arcara, P. and Melchiorri, C., "Control schemes for teleoperation with time delay: A comparative study," Robotics Autonomous Systems, Vol.38, No.1, pp. 49-64, 2002.
15. Aliaga, I., Rubio, A. and Sanchez, E., "Experimental quantitative comparison of different control architectures for master-slave teleoperation," IEEE Transactions on Control Systems Technology, Vol.12, No.1, pp. 2-11, January, 2004.
16. Rodriguez-Seda, E.J., Lee, D. and Spong, M.W., "An experimental comparison study for bilateral Internet-based teleoperation," Proceedings of the IEEE International Conference on Control Applications, Munich, Germany: Institute of Electrical and Electronics Engineers Inc., pp. 1701-1706, 2007.
17. Heinrichs, B., Sepehri, N. and Thornton-Trump, A., "Position-Based Impedance Control of an Industrial Hydraulic Manipulator," IEEE Control Systems Magazine, Vol.17, No.1, pp. 46-52, 1997.
18. "http://www.sensable.com/haptic-phantom-omni.htm," 2009.
19. An, L. and Sepehri, N., "Leakage fault detection in hydraulic actuators subject to unknown external loading," International Journal of Fluid Power, Vol.9, No.2, pp. 15-25, 2008.
20. Prokopiou, P.A., Tzafestas, S.G. and Harwin, W.S., "A novel scheme for human-friendly and time-delays robust neuropredictive teleoperation," Journal of Intelligent and Robotic Systems: Theory and Applications, Vol.25, No.4, pp. 311-340, August, 1999.