Bilateral Control of Hydraulic Servo System for End-Effector of Master-Slave Manipulators

被引：0
|
作者：
Kallu, Karam Dad [1 ]
Abbasi, Saad Jamshed [1 ]
Lee, Min Cheol [1 ]
机构：
[1] Pusan Natl Univ, Dept Mech Engn, Busan 46241, South Korea
来源：
2017 14TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | 2017年
基金：
新加坡国家研究基金会;
关键词：
Bilateral Control; Master-Slave manipulators; Hydraulic Servo System; SMCSPO; Robust Position; TELEOPERATION; TRANSPARENCY;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this research a bilateral control in hydraulic servo system for end-effector of master-slave manipulator is proposed. End-Effector of hydraulic servo system is used in dismantling nuclear power plant. A bilateral control strategy in hydraulic servo system is recommends for the robust position tracking between the master and slave. Sliding mode control with sliding Perturbation observer (SMCSPO) is used to a proposed bilateral controller for the robust position tracking control of a slave. This research verifies through experiment that slaver can follow the trajectory of the master device using the proposed bilateral control strategy.
引用
收藏
页码：284 / 287
页数：4
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