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Research Papers

A Lyapunov Stable Controller for Bilateral Haptic Teleoperation of Single-Rod Hydraulic Actuators

[+] Author and Article Information
Vikram Banthia

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

Kourosh Zareinia

Department of Clinical Neuroscience,
University of Calgary,
Calgary, AB T2N 1N4, Canada
e-mail: kzareini@ucalgary.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 September 11, 2016; final manuscript received March 7, 2017; published online June 28, 2017. Assoc. Editor: Heikki Handroos.

J. Dyn. Sys., Meas., Control 139(11), 111001 (Jun 28, 2017) (16 pages) Paper No: DS-16-1438; doi: 10.1115/1.4036535 History: Received September 11, 2016; Revised March 07, 2017

A Lyapunov stable control scheme is designed and implemented for bilateral haptic teleoperation of a single-rod hydraulic actuator. The proposed controller is capable of reducing position errors at master and slave sides, as well as perceiving the interaction force between the actuator and the task environment without a need for direct measurement of force. The controller only requires the actuator's line pressures and displacements of the master and slave. Stability of the proposed controller incorporating hydraulic nonlinearities and operator dynamics is analytically proven. Simulation studies demonstrate that the proposed system can reach an equilibrium point while interacting with an environment exhibiting stiffness. Experimental results confirm that the controller is able to effectively maintain stability, while having good position tracking by the hydraulic actuator as well as perceiving the contact force between the actuator and the task environment without direct measurement. This kind of haptic feedback force is a suitable choice for applications where mounting a force sensor at the end-effector is not feasible, such as excavators and backhoes. This work contributes to enhancing the operator's ability to perform stable haptic-enabled teleoperation of hydraulic manipulators.

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References

Figures

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Fig. 1

Bilateral teleoperation system

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Fig. 4

Simulation results given a sinusoidal human input. Hydraulic actuator starts in free motion and makes contact with a spring having stiffness of ks=17 kN/m at 20 mm.

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Fig. 5

Shoulder link of the manipulator being used for experiments

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Fig. 2

Simulation results given a constant human input (Fh=0.4 N)

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Fig. 3

Simulation results given a constant human input (Fh=0.4 N). The hydraulic actuator is pushing against a spring having stiffness ks=17 kN/m.

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Fig. 6

(a) Experimental results for steplike master input and (b) experimental results for sinusoid-like master input. Hydraulic actuator moves in free motion.

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Fig. 7

Hydraulic actuator starts in free motion and pushes against a spring having stiffness of ks=17 kN/m

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Fig. 8

(a) Experimental results for steplike master input and (b) experimental results for sinusoid-like master input. Hydraulic actuator starts in free motion and makes contact with a spring having stiffness of ks=17 kN/m.

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Fig. 9

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

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Fig. 10

(a) Experimental results for steplike master input and (b) experimental results for sinusoid-like master input. Hydraulic actuator starts in free motion and makes contact with a live-line conductor wire.

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