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Development of a Hydraulic Force-Display (Application to One-DOF Master-Slave Control)


Hironao Yamada*, Shigeki Kudomi**, Yoshinori Niwa** and Takayoshi Muto*


*Department of Human and Information System, Gifu University, 1, Yanagido, 1-chome, Gifu, 501-1193 Japan
**Prefectural Research Institute of Manufacturing Information Technology, 179-19, Sue-cho, 4-chome, Kagamigahara, Gifu, 509-0108 Japan


Received: September 26, 2002

Accepted: October 22, 2002


Keywords: tele-robotics, master-slave system, force display, back-drivability, fluid power system

Journal ref: Journal of Robotics and Mechatronics, Vol.15, No.1 pp. 39-46, 2003

Abstract



In this study, we deal with a bilateral master-slave system for tele-robotics composed of electro-hydraulic servo-systems. In a teleoperated master-slave system, the master has to play two roles, firstly as a reference input device to the slave and secondly as a force display device. In order to produce a force display composed of hydraulic servo-systems, we must solve a problem called back-drivability, in which the actuator in a hydraulic servo-system cannot be operated freely by manual means. As a practical solution to this problem, we propose a driving method for the actuator that uses a force sensor attached to the actuator Furthermore, as an application of the proposed force display, we construct a bilateral master-slave system coposed of electro-hydraulic servo-systems. Experimental results of the manipulate on of motion by this system are presented and, consequently, the validity of the hydraulic force-display was confirmed.
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