- Library Home /
- Search Collections /
- Open Collections /
- Browse Collections /
- UBC Theses and Dissertations /
- Master-slave force-reflecting resolved motion control...
Open Collections
UBC Theses and Dissertations
UBC Theses and Dissertations
Master-slave force-reflecting resolved motion control of hydraulic mobile machines Zhu, Ming
Abstract
Issues concerning the design and implementation of master-slave force-reflecting resolved motion control of hydraulic mobile machines are addressed in this thesis. Network concepts and linear system theory are used to design and analyze general force-reflecting teleoperator systems to achieve high performance while maintaining stability. A new control structure is proposed to achieve "transparency" for teleoperator systems under rate control. A novel approach to stability analysis of the stiffness feedback strategy proposed in previous work is provided which, under certain condition, guarantees global asymptotic stability of the teleoperator system. The system could be either under rate or position control and could be subject to time-delays, nonlinearities or active environments. The closed-form inverse kinematics solutions of an excavator and a feller-buncher, which are four and five degree-of-freedom manipulators respectively, are provided to achieve resolvedmotion of the manipulator's end-effector. Using the UBC magnetically levitated joystick, the master-slave force-reflecting resolved motion control has been successfully implemented on a CAT-215 excavator and a CAT-325 feller-buncher. Machine experiments demonstrate the effectiveness of this control strategy in improving productivity and safety of general hydraulic mobile machines.
Item Metadata
Title |
Master-slave force-reflecting resolved motion control of hydraulic mobile machines
|
Creator | |
Publisher |
University of British Columbia
|
Date Issued |
1994
|
Description |
Issues concerning the design and implementation of master-slave force-reflecting resolved
motion control of hydraulic mobile machines are addressed in this thesis.
Network concepts and linear system theory are used to design and analyze general force-reflecting
teleoperator systems to achieve high performance while maintaining stability. A new
control structure is proposed to achieve "transparency" for teleoperator systems under rate control.
A novel approach to stability analysis of the stiffness feedback strategy proposed in previous
work is provided which, under certain condition, guarantees global asymptotic stability of the
teleoperator system. The system could be either under rate or position control and could be
subject to time-delays, nonlinearities or active environments.
The closed-form inverse kinematics solutions of an excavator and a feller-buncher, which
are four and five degree-of-freedom manipulators respectively, are provided to achieve resolvedmotion
of the manipulator's end-effector.
Using the UBC magnetically levitated joystick, the master-slave force-reflecting resolved
motion control has been successfully implemented on a CAT-215 excavator and a CAT-325
feller-buncher. Machine experiments demonstrate the effectiveness of this control strategy in
improving productivity and safety of general hydraulic mobile machines.
|
Extent |
4989964 bytes
|
Genre | |
Type | |
File Format |
application/pdf
|
Language |
eng
|
Date Available |
2009-01-10
|
Provider |
Vancouver : University of British Columbia Library
|
Rights |
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.
|
DOI |
10.14288/1.0064920
|
URI | |
Degree | |
Program | |
Affiliation | |
Degree Grantor |
University of British Columbia
|
Graduation Date |
1995-05
|
Campus | |
Scholarly Level |
Graduate
|
Aggregated Source Repository |
DSpace
|
Item Media
Item Citations and Data
Rights
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.