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

Shigeki Kudomi | Zendy; H. Yamada | Zendy; Takayoshi MUTO | Zendy

Open Access

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

Author(s) -

Shigeki Kudomi,

H. Yamada,

Takayoshi MUTO

Publication year - 2003

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2003.p0391

Subject(s) - master/slave , control theory (sociology) , compensation (psychology) , hydraulic cylinder , haptic technology , computer science , simulation , observer (physics) , object (grammar) , hydraulic machinery , operator (biology) , disturbance (geology) , control engineering , engineering , mechanical engineering , control (management) , artificial intelligence , physics , paleontology , quantum mechanics , operating system , psychology , biochemistry , chemistry , repressor , biology , transcription factor , psychoanalysis , gene

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.

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