Master-slave Control of Tele-operated Hydraulic Construction Robot Based on Load Force and Impedance Identifiers
A master-slave control method based on load force and impedance identifiers for Tele-operated hydraulic construction robot system is proposed in this paper. The robot system is composed of a hydraulic excavator and two joysticks. The hydraulic excavator is served as the construction robot. The joysticks are used to operate the robot in a remote region. The master actuator and the slave actuator in this system are the joystick-gear and the fork-glove actuator of excavator respectively. The load force and impedance identifiers are respectively used to identify the load force and impedance of slave actuator. According to load force, master controller controls master actuator to generate reaction force to operator. On the basis of impedance and master slave error, slave controller controls slave actuator to perform working task. The experimental researches on proposed method confirm that the operator not only can obtain force sense accurately, but also can obtain the sense of deformation and stiffness of objects obviously.
tele-operated construction robot master-slave control identifier
Li Xiao Yamda H. Kato H.
Faculty of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, 510006, Chi Department of Mechanical and Systems Engineering, Gifu University, Gifu, 501-1193, Japan
国际会议
北戴河
英文
761-764
2007-06-06（万方平台首次上网日期，不代表论文的发表时间）