| Title: | OS11-3 Bilateral Control of Hydraulic Servo System Based on SMCSPO for 1DOF Master Slave Manipulator |
|---|---|
| Publication: | ICAROB2017 |
| Volume: | 22 |
| Pages: | 452-455 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2017.OS11-3 |
| Author(s): | Jie Wang, Karam Dad, Min Cheol Lee |
| Publication Date: | January 19, 2017 |
| Keywords: | SMCSPO, Bilateral control, Master-Slave, Hydraulic servo system, Nuclear Power Plant |
| Abstract: | In this research reaction force estimation method based on Sliding mode control with sliding perturbation observer (SMCSPO) of a hydraulic servo system for one degree of freedom (DOF) master-slave manipulators is proposed. The reaction force at the end effector of slaver is estimated by sliding perturbation observer (SPO) without using any torque sensor. This research verifies through simulation and experiment that slaver can follow the trajectory of the master device using the proposed bilateral control strategy to give a reference and estimate reaction force from observer. |
| PDF File: | https://alife-robotics.co.jp/members2017/icarob/data/html/data/OS_pdf/OS11/OS11-3.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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