Experimental evaluation of two bilateral control schemes applied to a tele-operated hydraulic actuator

Kurosh Zarei-nia; Amin Yazdanpanah Goharrizi; Nariman Sepehri; Wai Keung Fung

doi:10.1115/DSCC2009-2634

Experimental evaluation of two bilateral control schemes applied to a tele-operated hydraulic actuator

Kurosh Zarei-nia^*, Amin Yazdanpanah Goharrizi, Nariman Sepehri, Wai Keung Fung

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Providing force feedback along with other sensory information can greatly increase task quality, productivity, and safety during teleoperation of hydraulic manipulators. However, as compared to the class of electrically-actuated robots, research on application of bilateral control schemes applied to the class of hydraulic manipulators is sparse. In this paper, we present experimental results of implementing two bilateral control scheme, previously developed for electrically-actuated manipulators, to a hydraulic actuator having additional nonlinear dynamics. The two schemes chosen are force reflection ' and 'position error'. The performance of each scheme is evaluated in terms of position tracking, force tracking, and fidelity of perceived stiffness by the human operator. The results reveal specific features of each scheme paving the road for future research in this direction in terms of designing appropriate bilateral control schemes for hydraulic manipulators.

Original language	English
Title of host publication	Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
Publisher	American Society of Mechanical Engineers (ASME)
Pages	1265-1271
Number of pages	7
Edition	PART B
ISBN (Print)	9780791848920
DOIs	https://doi.org/10.1115/DSCC2009-2634
Publication status	Published - 16 Sept 2010
Externally published	Yes
Event	2009 ASME Dynamic Systems and Control Conference, DSCC2009 - Hollywood, CA, United States Duration: 12 Oct 2009 → 14 Oct 2009

Conference

Conference	2009 ASME Dynamic Systems and Control Conference, DSCC2009
Country/Territory	United States
City	Hollywood, CA
Period	12/10/09 → 14/10/09

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10.1115/DSCC2009-2634

Cite this

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title = "Experimental evaluation of two bilateral control schemes applied to a tele-operated hydraulic actuator",

abstract = "Providing force feedback along with other sensory information can greatly increase task quality, productivity, and safety during teleoperation of hydraulic manipulators. However, as compared to the class of electrically-actuated robots, research on application of bilateral control schemes applied to the class of hydraulic manipulators is sparse. In this paper, we present experimental results of implementing two bilateral control scheme, previously developed for electrically-actuated manipulators, to a hydraulic actuator having additional nonlinear dynamics. The two schemes chosen are force reflection ' and 'position error'. The performance of each scheme is evaluated in terms of position tracking, force tracking, and fidelity of perceived stiffness by the human operator. The results reveal specific features of each scheme paving the road for future research in this direction in terms of designing appropriate bilateral control schemes for hydraulic manipulators.",

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doi = "10.1115/DSCC2009-2634",

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note = "2009 ASME Dynamic Systems and Control Conference, DSCC2009 ; Conference date: 12-10-2009 Through 14-10-2009",

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Zarei-nia, K, Goharrizi, AY, Sepehri, N & Fung, WK 2010, Experimental evaluation of two bilateral control schemes applied to a tele-operated hydraulic actuator. in Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009. PART B edn, American Society of Mechanical Engineers (ASME), pp. 1265-1271, 2009 ASME Dynamic Systems and Control Conference, DSCC2009, Hollywood, CA, United States, 12/10/09. https://doi.org/10.1115/DSCC2009-2634

Experimental evaluation of two bilateral control schemes applied to a tele-operated hydraulic actuator. / Zarei-nia, Kurosh; Goharrizi, Amin Yazdanpanah; Sepehri, Nariman et al.
Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009. PART B. ed. American Society of Mechanical Engineers (ASME), 2010. p. 1265-1271.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Experimental evaluation of two bilateral control schemes applied to a tele-operated hydraulic actuator

AU - Zarei-nia, Kurosh

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AU - Sepehri, Nariman

AU - Fung, Wai Keung

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AB - Providing force feedback along with other sensory information can greatly increase task quality, productivity, and safety during teleoperation of hydraulic manipulators. However, as compared to the class of electrically-actuated robots, research on application of bilateral control schemes applied to the class of hydraulic manipulators is sparse. In this paper, we present experimental results of implementing two bilateral control scheme, previously developed for electrically-actuated manipulators, to a hydraulic actuator having additional nonlinear dynamics. The two schemes chosen are force reflection ' and 'position error'. The performance of each scheme is evaluated in terms of position tracking, force tracking, and fidelity of perceived stiffness by the human operator. The results reveal specific features of each scheme paving the road for future research in this direction in terms of designing appropriate bilateral control schemes for hydraulic manipulators.

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Experimental evaluation of two bilateral control schemes applied to a tele-operated hydraulic actuator

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