Experimental evaluation of bilateral control of velocity control system using electric and hydraulic actuators

摘要

Working in ultimate environments (e.g. working at the disaster sites) is dangerous for humans. Hence it is important to introduce teleoperated robots at the extreme environments. Since there are many heavy works, hydraulic actuators of high output power are used more than electric actuators. Therefore, it is necessary to operate remote control robots driven by hydraulic actuators. Bilateral control is remote control with the sense of force. Because most of bilateral control systems have been studied mainly using electric actuators, bilateral control using hydraulic actuators is still a challenging issue. In this research, we show the interference of position and force controllers and degradation of control performance by scaling gain in the conventional method. The control performance of the conventional research is analyzed and is experimentally verified. In addition, in this research, we show the effect of modeling error of the previously proposed bilateral controller.