PASSIVE BILATERAL TELEOPERATION OF A HYDRAULIC ACTUATOR USING AN ELECTROHYDRAULIC PASSIVE VALVE

Authors

  • Perry Y. Li Department of Mechanical Engineering, University of Minnesota, 111 Church St. SE, Minneapolis, MN 55455, USA
  • Kailash Krishnaswamy Department of Mechanical Engineering, University of Minnesota, 111 Church St. SE, Minneapolis, MN 55455, USA pli@me.umn.edu, kk@me.umn.edu Abstract

Keywords:

hydraulic teleoperation, bilateral teleoperation, passive control, passivity, electrohydraulic actuator

Abstract

A passive control scheme for the bilateral teleoperation of a electrohydraulic actuator and a motorized joystick is proposed. The overall system enables a human operating a motorized joystick to feel as if he is manipulating a rigid mechanical tool with which the work environment is also in contact. By ensuring that the closed loop system behaves like a passive two port device, safety and stability when coupled to other systems are improved. The control scheme is developed by first using previously developed active feedback to passify a four way proportional directional control valve, and then by the design of an intrinsically passive teleoperation controller. The coordination error between the joystick and the hydraulic actuator converges to zero for sufficiently low manipulation bandwidth. Experimental results verify the characteristics of the control scheme.

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Author Biographies

Perry Y. Li, Department of Mechanical Engineering, University of Minnesota, 111 Church St. SE, Minneapolis, MN 55455, USA

Perry Y. Li Associate Professor of Mechanical Engineering at the University of Minnesota, USA. He obtained his B.A. (hons) in Electrical and Information Sciences from Cambridge University, U.K., in 1987, his M.S. in Biomedical Engineering from Boston University, USA in 1990, and his PhD in Mechanical Engineering from the University of California, Berkeley in 1995. His research interests are in control and mechatronic systems.

Kailash Krishnaswamy, Department of Mechanical Engineering, University of Minnesota, 111 Church St. SE, Minneapolis, MN 55455, USA pli@me.umn.edu, kk@me.umn.edu Abstract

Kailash Krishnaswamy PhD candidate in Mechanical Engineering at the University of Minnesota, USA. He obtained his B.Tech from the Indian Institute of Technology, India in 1998. Since September 2003, he has been working as a researcher at the Honeywell Laboratories, Minneapolis, Minnesota. His research interests are in control systems.

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Published

2004-07-01

How to Cite

Li, P. Y., & Krishnaswamy, K. (2004). PASSIVE BILATERAL TELEOPERATION OF A HYDRAULIC ACTUATOR USING AN ELECTROHYDRAULIC PASSIVE VALVE. International Journal of Fluid Power, 5(2), 43–56. Retrieved from https://journals.riverpublishers.com/index.php/IJFP/article/view/586

Issue

2004: Vol 05 Iss 2

Section

Original Article