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| Title | Application of force feedback to heavy duty hydraulic machines |
| Publication Type | Conference Paper |
| Year of Publication | 1993 |
| Authors | Parker, N. R., S. E. Salcudean, and P. D. Lawrence |
| Conference Name | Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on |
| Pagination | 375 -381 vol.1 |
| Date Published | may. |
| Keywords | CAT 215 log loader, design, feedback, force control, force feedback, force-reflecting controller, hydraulic cylinder pressures, hydraulic machines, hydraulic systems, magnetically levitated wrist, rate control, stiffness control |
| Abstract | The design and implementation of a force-reflecting controller for conventional heavy duty hydraulic machines are described. The unsuitability of direct force feedback with rate control has been shown analytically and confirmed on a simulator of a typical hydraulic machine. A stiffness control scheme to circumvent this problem was developed and used successfully in controlling the endpoint force on a CAT 215 log loader to better than 10% of a typical working load. A magnetically levitated wrist was used as a force-reflecting master, and the endpoint forces were obtained from hydraulic cylinder pressures |
| URL | http://dx.doi.org/10.1109/ROBOT.1993.292010 |
| DOI | 10.1109/ROBOT.1993.292010 |