Application of force feedback to heavy duty hydraulic machines

TitleApplication of force feedback to heavy duty hydraulic machines
Publication TypeConference Paper
Year of Publication1993
AuthorsParker, N. R., S. E. Salcudean, and P. D. Lawrence
Conference NameRobotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Pagination375 -381 vol.1
Date Publishedmay.
KeywordsCAT 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

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


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