Hydraulically powered dissimilar teleoperated system controller design

Author

Jansen, John F. ; Kress, Reid L.

Author_Institution

Div. Robotics & Process Syst., Oak Ridge Nat. Lab., TN, USA

Volume

3

fYear

1996

fDate

22-28 Apr 1996

Firstpage

2484

Abstract

Addresses two issues associated with the implementation of a hydraulically powered dissimilar master-slave teleoperated system. These issues are the overall system control architecture and the design of robust hydraulic servo controllers for the position control problem. Finally, a discussion of overall system performance on an actual teleoperated system is presented. (Schilling´s Titan II hydraulic manipulators are the slave manipulators and the master manipulators are from the Oak Ridge National Laboratory-developed Advanced Servo Manipulator)

Keywords

compensation; control system synthesis; graphical user interfaces; hydraulic control equipment; manipulators; position control; servomechanisms; telerobotics; Advanced Servo Manipulator; Oak Ridge National Laboratory; Titan II hydraulic manipulators; control architecture; hydraulically powered dissimilar teleoperated system controller design; master-slave teleoperated system; position control; robust hydraulic servo controllers; Arm; Central Processing Unit; Communication system control; Control systems; Hardware; Laboratories; Manipulators; Master-slave; Robots; Servomechanisms;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.506536

Filename

506536