Abstract
A position-based impedance controller has been implemented on a mini-excavator. Its performance and an approach to evaluate its stability robustness for given environment impedances are discussed. A dual hybrid teleoperation controller is proposed for machine control. Issues of transparency are discussed.
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
References
U. Wallersteiner, P. Stager, and P.D. Lawrence, “A human factors evaluation of teleoperated hand controllers,” in International Symposium on Teleoperation and Control, (Bristol, England), July 1988.
N. Sepehri, P.D. Lawrence, F. Sassani and R. Frenette, “Resolved-mode teleoperated control of heavy-duty hydraulic machines,” Journal of Dynamic Systems, Measurement and Control, vol. 116, pp. 232–240, June 1994.
P.D. Lawrence, S.E. Salcudean, N. Sepehri, D. Chan, S. Bachmann, N. Parker, M. Zhu and R. Frenette, “Coordinated and force-feedback control of hydraulic excavators,” in Experimental Robotics IV, The Fourth International Symposium, Stanford Ca., June 30–July 2, 1995, pp. 181–194, Springer Verlag, 1996.
Alekseeva, T.V., Artem'ev, K.A., Bromberg, A.A., Voitsekhouskii, R.I., and Ul'yanov, N.A., Machines for Earthmoving Work: Theory and Calculations. New Delhi, India: Amerind Publishing Co., Pvt. Ltd., 1985.
Vaha, P. K. and Skibniewski, M. J., “Dynamic Model of Excavator,” Journal of aerospace engineering., vol. 6, pp. 148–158, April 1993.
Koivo, A J, Thoma, M, Kocaoglan, E, and Andrade-Cetto, J., “Modeling and control of excavator dynamics during digging operation,” Journal of aerospace engineering., vol. 9, no. 1, pp. 10–18, 1996.
N.R. Parker, S.E. Salcudean, and P.D. Lawrence, “Application of Force Feedback to Heavy Duty Hydraulic Machines,” in Proceedings of the IEEE International Conference on Robotics and Automation, (Atlanta, USA), pp. 375–381, May 2–6, 1993.
N. Hogan, “Impedance control: An approach to manipulation, parts i–iii,” ASME J. of Dynamic Systems, Measurement, and Control, vol. 107, pp. 1–23, March 1985.
N. S. B. Heinrichs and A. Thornton-Trump, “Position-based impedance control of an industrial hydraulic manipulator,” IEEE Contr. Sys. Mag., vol. 17, pp. 46–52, February 1997.
S.E. Salcudean, S. Tafazoli, P.D. Lawrence and I. Chau, “Impedance control of a teleoperated mini excavator,” in Proc. 1997 ICAR, June 1997. to appear.
S. Tafazoli, Identification of frictional effects and structural dynamics for improved control of hydraulic manipulators. PhD thesis, University of British Columbia, January 1997.
S. Tafazoli, P. Peussa, P.D. Lawrence, S.E. Salcudean, and C.W. de Silva, “Differential pwm operated solenoid valves in the pilot stage of mini excavators: modeling and identification,” in Proc. ASME Int. Mech. Eng. Congr. and Expo., FPST-3, (Atlanta, GA), pp. 93–99, November 1996.
S. Tafazoli, P.D. Lawrence, S.E. Salcudean, D. Chan, S. Bachmann and C.W. de Silva, “Parameter estimation and friction analysis for a mini excavator,” in Proc. IEEE Int. Conf. on Robotics and Automation, vol. 1, (Minneapolis, Minnesota), pp. 329–334, April 1996.
D. Lawrence, “Impedance control stability properties in common implementations,” in Proc. IEEE Int. Conf. Rob. Aut., pp. 1185–1190, March 1988.
B. Hannaford, “A Design Framework for Teleoperators with Kinesthetic Feedback,” IEEE Transactions on Robotics and Automation, vol. RA-5, pp. 426–434, August 1989.
D. A. Lawrence, “Designing Teleoperator Architecture for Transparency,” in Proceedings of the IEEE International Conference on Robotics and Automation, (Nice, France), pp. 1406–1411, May 10–15 1992.
M. Zhu and S. Salcudean, “Achieving transparency for teleoperator systems under position and rate control,” in Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'95), (Pittsburgh, PA), August 5–9 1995.
K. Hashtrudi Zaad and S.E. Salcudean, “Adaptive transparent impedance reflecting teleoperation,” in Proc. IEEE International Conference on Robotics and Automation, (Minneapolis, Minnesota), pp. 1369–1374, April 22–28 1996.
C. Reboulet, Y. Plihon and Y. Briere, “Interest of the dual hybrid control scheme for teleoperation with time delays,” in Experimental Robotics IV, The Fourth International Symposium, Stanford Ca., June 30–July 2, 1995, pp. 498–506, Springer Verlag, 1996.
S.E. Salcudean and N.M. Wong, “Coarse-fine motion coordination and control of a teleoperation system with magnetically levitated master and wrist,” in Third International Symposium on Experimental Robotics, (Kyoto, Japan), Oct 28–30, 1993.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1998 Springer-Verlag London Limited
About this paper
Cite this paper
Salcudean, S.E., Tafazoli, S., Hashtrudi-Zaad, K., Lawrence, P.D., Reboulet, C. (1998). Evaluation of impedance and teleoperation control of a hydraulic mini-excavator. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112965
Download citation
DOI: https://doi.org/10.1007/BFb0112965
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-76218-8
Online ISBN: 978-3-540-40920-5
eBook Packages: Springer Book Archive