0
research-article

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, Canada R3T 5V6
umbanthv@myumanitoba.ca

Kourosh Zareinia

Department of Clinical Neuroscience, University of Calgary, Calgary, Canada T2N 1N4
kzareini@ucalgary.ca

Subramaniam Balakrishnan

Department of Mechanical Engineering, University of Manitoba, Winnipeg, Canada R3T 5V6
subramaniam.balakrishnan@umanitoba.ca

Nariman Sepehri

Department of Mechanical Engineering, University of Manitoba, Winnipeg, Canada R3T 5V6
nariman.sepehri@umanitoba.ca

1Corresponding author.

ASME doi:10.1115/1.4036535 History: Received September 11, 2016; Revised March 07, 2017

Abstract

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.

Copyright (c) 2017 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In