Control issues for a hydraulically powered dissimilar teleoperated system

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Description

This paper will address two issues associated with the implementation of a hydraulically powered dissimilar master-slave teleoperated system. These issues are the overall system control architecture and the design of robust hydraulic servo controllers for the position control problem. Finally, a discussion of overall system performance on an actual teleoperated system will be presented. (Schilling`s Titan II hydraulic manipulators are the slave manipulators and the master manipulators are from the Oak Ridge National Laboratory-developed Advanced Servo Manipulator.)

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9 p.

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Jansen, J. F. & Kress, R. L. December 1995.

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Description

This paper will address two issues associated with the implementation of a hydraulically powered dissimilar master-slave teleoperated system. These issues are the overall system control architecture and the design of robust hydraulic servo controllers for the position control problem. Finally, a discussion of overall system performance on an actual teleoperated system will be presented. (Schilling`s Titan II hydraulic manipulators are the slave manipulators and the master manipulators are from the Oak Ridge National Laboratory-developed Advanced Servo Manipulator.)

Physical Description

9 p.

Notes

INIS; OSTI as DE96005987

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  • Winter meeting of the American Nuclear Society (ANS), San Francisco, CA (United States), 29 Oct - 1 Nov 1995

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  • Other: DE96005987
  • Report No.: CONF-951006--37
  • Grant Number: AC05-84OR21400
  • Office of Scientific & Technical Information Report Number: 200676
  • Archival Resource Key: ark:/67531/metadc670380

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

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  • December 1995

Added to The UNT Digital Library

  • June 29, 2015, 9:42 p.m.

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  • Nov. 19, 2015, 6:31 p.m.

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Jansen, J. F. & Kress, R. L. Control issues for a hydraulically powered dissimilar teleoperated system, article, December 1995; Tennessee. (digital.library.unt.edu/ark:/67531/metadc670380/: accessed October 18, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.