Passive Bilateral Teleoperation of a Hydraulic Actuator using an Electrohydraulic Passive Valve

Perry Y. Li, Kailash Krishnaswamy
2004 International Journal of Fluid Power  
A passive control scheme for the bilateral teleoperation of a one degree of freedom electrohydraulic actuator 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 active
more » ... rst using active feedback to passify a four way directional control valve, and then by the design of a passive teleoperation controller. The coordination error between the joystick and the hydraulic actuator converges to 0 for sufficiently low manipulation bandwidth. Experimental results verify the characteristics of the control scheme.
doi:10.1080/14399776.2004.10781191 fatcat:43di6wv2zjcwpgrgxeknmzkp5q