Force Feedback Control of Tele-Operation Based on Electro-Hydraulic Multi-Freedom Manipulator

DOI

10.2991/mme-16.2017.111How to use a DOI?

Keywords

Tele-operation, Position space, Control strategy, Bilateral servo control.

Abstract

The paper presents the control strategy to solve the problems that multiple-freedom force and displacement coupling existing in the bilateral servo force-feedback control architecture for tele-operation parallel manipulators. The control strategy transfers the values of the working resistance connected to the slave manipulator and its direction to the master side through the position space, which provides the operator with the constrained space the same as the slave side. The experimental results show that the proposed force-feedback control strategy is effective and markedly improves the manipulability for the master-slave control system.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Ming-De Gong
AU  - Kai-Wen Chen
AU  - Tao Ni
PY  - 2016/12
DA  - 2016/12
TI  - Force Feedback Control of Tele-Operation Based on Electro-Hydraulic Multi-Freedom Manipulator
BT  - Proceedings of the 3rd Annual International Conference on Mechanics and Mechanical Engineering (MME 2016)
PB  - Atlantis Press
SP  - 801
EP  - 806
SN  - 2352-5401
UR  - https://doi.org/10.2991/mme-16.2017.111
DO  - 10.2991/mme-16.2017.111
ID  - Gong2016/12
ER  -