single-rb.php

JRM Vol.15 No.4 pp. 391-397
doi: 10.20965/jrm.2003.p0391
(2003)

Paper:

Development of a Hydraulic Parallel Link Force Display -Improvement of Manipulability Using a Disturbance Observer and its Application to a Master-slave System-

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

*Gifu Prefectural Research Institute of Manufacturing Information Technology, 4-179-19 Sue-cho, Kakamigahara, Gifu, 509-0108 Japan

**Department of Mechanical and Systems Engineering, Faculty of Engineering Gifu University, 1-1 Yanagido, Gifu, 501-1193 Japan

Received:
September 26, 2002
Accepted:
March 26, 2003
Published:
August 20, 2003
Keywords:
hydraulic servo-system, parallel link, force feedback, tele-operation, bilateral control
Abstract

We previously developed a six-DOF parallel link force display that is actuated by six hydraulic cylinders. The manipulability of the display, however, was insufficient at first, because the dynamic performance of each cylinder was not necessarily the same as that of the others. To overcome this problem, in the present study we have applied disturbance compensation to improve manipulability. To demonstrate a practical application of this force display, we have also constituted a master-slave system in which the display is adopted as the master, and the same type of hydraulic manipulator is adopted as the slave. An operator manipulated the system so that the slave touched a flexible object serving as a load. Our experiments confirmed that the system was controlled with relatively good dynamic performance, and that the operator was able to feel the load force sensitively through the force display.

Cite this article as:
Shigeki Kudomi, Hironao Yamada, and Takayoshi Muto, “Development of a Hydraulic Parallel Link Force Display -Improvement of Manipulability Using a Disturbance Observer and its Application to a Master-slave System-,” J. Robot. Mechatron., Vol.15, No.4, pp. 391-397, 2003.
Data files:

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on May. 11, 2021