Paper Info
Title
Application of force feedback to heavy duty hydraulic machines
Abstract
This paper presents a summary of the design and imple- mentation of a force-reflecting controller for conventional heavy duty hydraulic machines. The unsuitability of direct force feedback with rate control has been shown analyti- cally and confirmed on a simulator of a typical hydraulic machine. A novel stiffness control scheme was developed to circumvent this problem and was used successfully in controlling the endpoint force on a CAT 215 log loader to better than 10% of a typical working load. A magnetically levitated wrist was used as a force-reflecting master, while the endpoint forces were obtained from hydraulic cylinder pressures.
Year
DOI
Venue
1993
10.1109/ROBOT.1993.292010
Atlanta, GA
Keywords
Field
DocType
feedback,force control,hydraulic systems,CAT 215 log loader,design,force feedback,force-reflecting controller,hydraulic cylinder pressures,hydraulic machines,magnetically levitated wrist,rate control,stiffness control
Hydraulic motor,Control theory,Hydraulic machinery,Stiffness,Control theory,Control engineering,Loader,Engineering,Haptic technology,Hydraulic cylinder
Conference
Citations 
PageRank 
References 
26
3.87
5
Authors
3
Name
Order
Citations
PageRank
Parker, N.R.1263.87
Septimiu E Salcudean263287.59
P. D. Lawrence325540.37