(PDF) Impedance control of a hydraulically actuated
Sliding mode control incorporating a fuzzy Lawrence, Evaluation of impedance and teleoperation control tuning approach has been successfully implemented of a hydraulic mini-excavator, in: Proceedings of the 5th Int. for the control of the ram force and the cylinder Sym. Experimental Robotics ISER'97, Barcelona, Spain, position the excavator
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Current Research Projects - Dr. Tim Salcudean
Local and remote control of excavator-based machines; Impedance and teleoperated control of mini-excavator [Demo video] Virtual excavator; Stewart platform motion simulator [Demo video] Augmented reality for truck loading in surface mining; Vibration Isolation for zero-g environments; Design of magnetically levitated vibration isolation platform
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Remote Control of Hydraulic Equipment for Unexploded
invariably requires an understanding of control theory, because it would not be a robot if it didn't have dynamics! This being said, I owe my strong love for Control Theory to the motivating educational credo of Dr. Leo's series of controls classes. Building the teleoperated excavator was an arduous task, but through the help of many project
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IEEE/ASME TRANSACTIONS ON MECHATRONICS: FOCUSED …
[36]) studied the impedance control of a teleoperated mini-excavator, based on a simple proportional-derivative (PD) con-troller. Stability proof for a simple PD impedance controller was provided, but it was limited to a single-DOF hydraulic cylinder acting on the environment. Zeng and Sepehri [37] proposed a nonlinear tracking control
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(PDF) Impedance control of a teleoperated mini excavator
Abstract. A position-based impedance controller for excavator-type manipulators has been developed in our laboratory. This paper describes the proposed impedance controller and presents supporting experimental results. First, the problem of impedance control for a single hydraulic actuator is addressed and a method is presented for stability analysis.
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Teleoperation Control of a Position‐Based Impedance Force
teleoperation control capabilities so that the contact force made by the mobile robot is actually controlled remotely by a user's haptic device to achieve bilateral transparency. The contact force of the slave robot was controlled by the position-based impedance force control method that uses an impedance function to modify the input trajectories
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Teleoperated Control of Hydraulic Equipment for Hazardous
$20k, a group of Virginia Tech students and faculty converted a Case CX-160 excavator to teleoperated control. With full wireless functionality of the excavator's six degrees-of-freedom, ignition, and remote cameras at 3000 ft., the teleoperated design meets or exceeds customer demands. For over a year, the teleoperated excavator has demonstrated
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Disturbance observer-assisted hybrid control for
Impedance control of a teleoperated excavator. IEEE Transactions on Control System Technology, 10(3):355–367, 2002. doi: 10.1109/87.998021. [15] M.D. Elton and W.J. Book. Comparison of human-machine interfaces designed for novices teleoperating multi-DOF hydraulic manipulators.
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Impedance control of a teleoperated excavator | IEEE
Aug 07, 2002 · Impedance control of a teleoperated excavator. Abstract: Earth-moving machines such as hydraulic excavators are usually used for carrying out contact tasks. Impedance control can be employed as an approach for achieving compliant motion in such tasks. This paper describes a position-based impedance controller that has been developed in our laboratory for excavator-type manipulators, and …
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[PDF] A model-based impedance control of a 6-dof
In this paper, a model-based impedance controller for a six-degree-of-freedom (dof) electrohydraulic Stewart platform mechanism is developed. Rigid body and electro-hydraulic models, including servovalve models are employed and described by a set of integrated system equations. Friction and leakage of hydraulic elements are also included. The developed controller uses the system dynamic and
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Modelling and remote control of an excavator - CORE
Impedance control of a teleoperated excavator," (2007). Interactive co-simulation of MATLAB and OPNET for Networked Control Systems," (1994). Kinematics of excavators (backhoes) for transferring surface material,"
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Impedance control of a teleoperated mini excavator | …
matched-impedance control is a practical implementation of the dual-hybrid teleoperation control architecture [21] with seem- less transition between position and force control modes.
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keyvan hashtrudi-zaad - Google Scholar
Impedance control of a teleoperated excavator S Tafazoli, SE Salcudean, K Hashtrudi-Zaad, PD Lawrence IEEE Transactions on Control Systems Technology 10 (3), 355-367, 2002
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An augmented virtual fixture to improve task performance
Apr 01, 2015 · Impedance control of a teleoperated excavator. IEEE Trans Control Syst Technol, 10 (3) (2002), pp. 355-367. View Record in Scopus Google Scholar. E. Papadopoulos, B. Mu, R. Frenette. On modeling, identification, and control of a heavy-duty electrohydraulic harvester manipulator.
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Review of modelling and remote control for excavators
impedance control for a hydraulic excavator have been presented by Lu et al. (1995) and Ha et al. (2000). In Tafazoli et al. (2002), a position-based impedance controller was presented on various contact experiments by using an instrumented mini-excavator. Rather than excavation control
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(PDF) Impedance control of a hydraulically actuated
Sliding mode control incorporating a fuzzy Lawrence, Evaluation of impedance and teleoperation control tuning approach has been successfully implemented of a hydraulic mini-excavator, in: Proceedings of the 5th Int. for the control of the ram force and the cylinder Sym. Experimental Robotics ISER'97, Barcelona, Spain, position the excavator
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Modeling and parameter estimation for hydraulic system of
Jun 04, 2008 · Impedance control of a teleoperated excavator [J] Shahram, T.; Septimiu, S. E.; Keyvan, H. Z. Hydraulic controlling system [M] Li, H.-ren. Improved nonlinear modeling and control of electro-hydraulic systems [D] Bora, E. The research of non-symmetry oil cylinder system controlled by symmetry valve and characteristic [D]
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(PDF) Impedance model-based control for an
Impedance control of a teleoperated excavator. IEEE Taking into account the Eq. (B1b), the last equation is Trans Control Syst Tech 2002; 10(3): 355–367 26. Thayer WJ. Specification standards for electrohydraulic written as, flow control servovalves. Technical Bulletin 117, Moog Incorporation Control Division, East Aurora, New CG21 Qv2 jQv2 j
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Modeling and Control of a Wheel Loader With a Human-in-the
Sep 07, 2004 · Modeling and Control of a Wheel Loader With a Human-in-the-Loop Assessment Using Virtual Reality Roger Fales, Roger Fales Assistant Professor Virtual Reality Applications Center, Iowa State University, Ames, IA 50014 Impedance Control of a Teleoperated Excavator,"
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Modelling and remote control of an excavator
Aug 18, 2010 · Modelling and remote control of an excavator Modelling and remote control of an excavator Liu, Yang; Hasan, Mohammad; Yu, Hong-Nian Kefid 00:00:00 This paper presents the results of an on-going project and investigates modelling and remote control issues of an industry excavator. The details of modelling, communication, and control of a remotely controllable excavator …
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