Application of force feedback to heavy duty hydraulic machines
- 30 December 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
This paper presents a summary of the design and imple- mentation of a force-reflecting controller for conventional heavy duty hydraulic machines. The unsuitability of direct force feedback with rate control has been shown analyti- cally and confirmed on a simulator of a typical hydraulic machine. A novel stiffness control scheme was developed to circumvent this problem and was 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, while the endpoint forces were obtained from hydraulic cylinder pressures.Keywords
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