Proceedings of the 3rd Annual International Conference on Mechanics and Mechanical Engineering (MME 2016)

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

Authors
Ming-De Gong, Kai-Wen Chen, Tao Ni
Corresponding Author
Ming-De Gong
Available Online December 2016.
DOI
https://doi.org/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.
Open Access
This is an open access article distributed under the CC BY-NC license.

Download article (PDF)

Proceedings
3rd Annual International Conference on Mechanics and Mechanical Engineering (MME 2016)
Part of series
Advances in Engineering Research
Publication Date
December 2016
ISBN
978-94-6252-303-6
ISSN
2352-5401
DOI
https://doi.org/10.2991/mme-16.2017.111How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

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  - 3rd Annual International Conference on Mechanics and Mechanical Engineering (MME 2016)
PB  - Atlantis Press
SN  - 2352-5401
UR  - https://doi.org/10.2991/mme-16.2017.111
DO  - https://doi.org/10.2991/mme-16.2017.111
ID  - Gong2016/12
ER  -