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Research Papers

A Lyapunov Stable Controller for Bilateral Haptic Teleoperation of Single-Rod Hydraulic Actuators Subjected to Base Disturbance

[+] Author and Article Information
Vikram Banthia

Department of Mechanical Engineering,
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: umbanthv@myumanitoba.ca

Ali Maddahi

Department of Mechanical Engineering,
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: maddahia@myumanitoba.ca

Kourosh Zareinia

Department of Mechanical and
Industrial Engineering,
Ryerson University,
Toronto, ON M5B 2K3, Canada
e-mail: kourosh.zareinia@ryerson.ca

Subramaniam Balakrishnan

Department of Mechanical Engineering,
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: subramaniam.balakrishnan@umanitoba.ca

Nariman Sepehri

Department of Mechanical Engineering,
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: nariman.sepehri@umanitoba.ca

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received March 21, 2018; final manuscript received October 20, 2018; published online November 22, 2018. Assoc. Editor: Youngsu Cha.

J. Dyn. Sys., Meas., Control 141(3), 031013 (Nov 22, 2018) (20 pages) Paper No: DS-18-1140; doi: 10.1115/1.4041851 History: Received March 21, 2018; Revised October 20, 2018

In this paper, a control scheme is developed and evaluated for stable bilateral haptic teleoperation of a single-rod hydraulic actuator subjected to base disturbance. The proposed controller, based on Lyapunov stability technique, is capable of reducing position errors at master and slave sides, and provides a feel of the contact force between the actuator and the task environment to the operator without a need for direct measurement. The controller requires only the measurements of the actuator line pressures and displacements of the master and slave. The system stability is insensitive to the uncertainties of the physical parameters and of the measurement of the base point motion. Stability of the proposed controller incorporating hydraulic nonlinearities and operator dynamics with an estimated upper value for the base disturbance is analytically proven. Simulation studies validate that the proposed control system is stable while interacting with a task environment. Experimental results demonstrate the effectiveness of control scheme in maintaining stability, while having good position tracking by the hydraulic actuator as well as providing a haptic feel to the operator without direct measurement of interaction force, while the hydraulic actuator is subjected to base disturbance.

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Figures

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Fig. 1

Bilateral teleoperation system

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Fig. 2

Schematic of valve-controlled single-rod hydraulic actuator

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Fig. 3

System response under sinusoidal base disturbance

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Fig. 4

Quasi-Lyapunov function. The inset shows that the amount of the increase of function is lower than the decrease in the adjacent regions.

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Fig. 5

Stewart platform programed to generate random low frequency base disturbances

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Fig. 6

Stewart platform top plate displacements

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Fig. 7

Experimental results of hydraulic actuator moving in free motion for (a) step-like master input and (b) sinusoid-like master input. Base of the manipulator is moving with amplitude αb 50 mm and frequency ω 7.5 rad/s.

Grahic Jump Location
Fig. 8

Experimental results of hydraulic actuator moving in free motion for (a) step-like master input and (b) sinusoid-like master input. Base of the manipulator is moving with amplitude αb 100 mm and frequency ω 15 rad/s.

Grahic Jump Location
Fig. 9

Experimental results of hydraulic actuator moving in free motion for (a) step-like master input and (b) sinusoid-like master input. Base of the manipulator is given random step inputs as in Fig. 6.

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Fig. 10

Hydraulic actuator starts in free motion and pushes against a spring having stiffness of ks=17 kN/m, while the base of the manipulator is moving

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Fig. 11

Experimental results of hydraulic actuator moving in free motion and making contact with a spring having stiffness of ks=17 kN/m for (a) step-like master input and (b) sinusoid-like master input. Base of the manipulator is moving with an amplitude αb 50 mm and a frequency ω 7.5 rad/s.

Grahic Jump Location
Fig. 12

Experimental results of hydraulic actuator moving in free motion and making contact with a spring having stiffness of ks=17 kN/m for (a) step-like master input and (b) sinusoid-like master input. Base of the manipulator is moving with an amplitude αb 100 mm and a frequency ω 15 rad/s.

Grahic Jump Location
Fig. 13

Experimental results of hydraulic actuator moving in free motion and making contact with a spring having stiffness ofks=17 kN/m for (a) step-like master input and (b) sinusoid-like master input. Base of the manipulator is given random step inputs.

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Fig. 14

Hydraulic actuator starts in free motion and makes contact with a live-line conductor

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Fig. 15

Experimental results of hydraulic actuator moving in free motion and making contact with a live-line conductor wire for (a) step-like master input and (b) sinusoid-like master input. Base of the manipulator is moving with an amplitude αb 50 mm and a frequency ω 7.5 rad/s.

Grahic Jump Location
Fig. 16

Experimental results of hydraulic actuator moving in free motion and making contact with a live-line conductor wire for (a) step-like master input and (b) sinusoid-like master input. Base of the manipulator is moving with an amplitude αb 100 mm and frequency ω 15 rad/s.

Grahic Jump Location
Fig. 17

Experimental results of hydraulic actuator moving in free motion and making contact with a live-line conductor wire for (a) step-like master input and (b) sinusoid-like master input. Base of the manipulator is given random step inputs.

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