haptic control of hydraulic machinery using proportional valves

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where, ⎡ V cart = ⎢ ⎣ ⎡ V cyl = ⎢ ⎣ ⎡ Θ = ⎢ ⎣ v x v y v ż φ v θ v r v ż φ ˙ θ 1 ⎤ ⎥ ⎦ ⎤ ⎥ ⎦ ⎤ θ˙ 2 θ˙ 3 ⎥ ⎦ θ˙ 4 (3.27) (3.28) (3.29) Note that T is symmetric, unitary and real, so T = T T = T −1 , so V cyl = TJ d Θ = J dcyl Θ (3.30) This means that the J dcyl = TJ d , where J dcyl is the equivalent Jacobian in cylindrical coordinates. ⎡ J dcyl = ⎢ ⎣ a c14 0 0 0 0 −a s24 −a s34 −a s4 0 a c24 a c34 a c4 0 1 1 1 ⎤ ⎥ ⎦ (3.31) Similarly the closed form inverse Jacobian using cylindrical coordinates for the 30
distal case is ⎡ d cyl = 1 d d ⎢ ⎣ J −1 ⎤ −d d /a c14 0 0 0 0 −a c3 −a s3 a s3 a c4 − a s4 a c3 0 a c23 a s23 a c23 a s4 − a s23 a c4 ⎥ ⎦ 0 −a c2 −a s2 −a s34 a 2 + a s2 a c34 (3.32) The Proximal Jacobian is simpler and is actually a special case of the distal Jacobians where a 4 = 0. The proximal Jaconian maps task-space coordinates related to position of the bucket’s wrist and the joint coordinates. In Cartesian coordinates J −1 p = ⎡ ⎢ ⎣ ⎡ ⎤ −s 1 a c13 −c 1 a s23 −c 1 a s3 0 c 1 a c13 −s 1 a s23 −s 1 a s3 0 J p = ⎢ 0 a c23 a c3 0 ⎥ ⎣ ⎦ 0 1 1 1 ⎤ −s 1 d d /a c13 c 1 d d /a c13 0 0 −c 1 a c3 −s 1 a c3 −a s3 0 c 1 a c23 s 1 a c23 a s23 0 ⎥ ⎦ −a c2 c 1 −a c2 s 1 −a s2 −a s3 a c2 + a s2 a c3 (3.33) (3.34) where d p = a c3 a s23 − a c23 a s3 (3.35) In cylindrical coordinates, ⎡ J pcyl = ⎢ ⎣ a c13 0 0 0 0 −a s23 −a s3 0 0 a c23 a c3 0 0 1 1 1 ⎤ ⎥ ⎦ (3.36) 31
Page 1 and 2: HAPTIC CONTROL OF HYDRAULIC MACHINE
Page 3 and 4: To those who have encouraged me, be
Page 5 and 6: work hard on my weaknesses. A speci
Page 7 and 8: IV HYDRAULIC CONTROL . . . . . . .
Page 9 and 10: LIST OF TABLES 3.1 Denavit-Hartenbe
Page 11 and 12: LIST OF FIGURES 2.1 4-channel archi
Page 13 and 14: 5.6 Force sensor picture . . . . .
Page 15 and 16: CHAPTER I INTRODUCTION The word hap
Page 17 and 18: dead-band. Servo valves also have t
Page 19 and 20: that worked well for free motion di
Page 21 and 22: many haptic researchers strive to a
Page 23 and 24: guarantee the stability of coupled
Page 25 and 26: of the teleoperator because it redu
Page 27 and 28: indicate improved accuracy, better
Page 29 and 30: so that h 12 h 21 = −1. With this
Page 31 and 32: can track a desired trajectory. The
Page 33 and 34: Deere tractor with a Model 47 backh
Page 35 and 36: CHAPTER III KINEMATICS Today almost
Page 37 and 38: • y ci - ith cylinder length •
Page 39 and 40: x = rcos(θ) y = rsin(θ) (3.2) z =
Page 41 and 42: 100 θ 2 +θ 3 +θ 4 z(cm) 75 50 25
Page 43: ⎡ ⎤ P 43 × ê z4 = ⎢ ⎣ −
Page 47 and 48: 100 75 z(cm) 50 25 0 O 2 a 3 θ O 1
Page 49 and 50: 250 200 Edge of Regions Manipulator
Page 51 and 52: ⎡ ∇ Ξ L T = ⎢ ⎣ ⎤ W r (r
Page 53 and 54: large changes in r and z to allow
Page 55 and 56: desired position (master position)
Page 57 and 58: esponse when the constraint is enfo
Page 59 and 60: θ K0J = θ MJ0 + π/2 + θ 1 −
Page 61 and 62: 3.3.3 Stick Cylinder D y 3 C θ 2
Page 63 and 64: R FHy = R FH sin(α + θ EFH ) (3.9
Page 65 and 66: constraints. Two methods for dealin
Page 67 and 68: flow control strategies are demonst
Page 69 and 70: pressure regulating configurations
Page 71 and 72: 4.2.1 Proportional Directional Cont
Page 73 and 74: P p P s Figure 4.4: Schematic of Sa
Page 75 and 76: 120 Sample mean 99% C.I. 100 80 Cro
Page 77 and 78: Pressure(psi) 1500 1000 500 P s LS
Page 79 and 80: 4.3 Pump Pressure Control From an e
Page 81 and 82: F cyl = ∂θ ∂x cyl τ = A c P c
Page 83 and 84: M eq¨˜x cyl = ∂θ ∂x cyl (¯x
Page 85 and 86: This means that if the pressure dri
Page 87 and 88: s x d + Σ - e K d s + K p + + Σ v
Page 89 and 90: eing controlled using a load-sensin
Page 91 and 92: Figure 4.20 shows the same response
Page 93 and 94: Y cyl (cm) Pressure (MPa) Flow (L/m
Page 95 and 96:
4.3.4 Max Pressure Filter How the s
Page 97 and 98:
15 Pressure(MPa) 10 5 P sd P sdf P
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100 80 Actual Desired Start End z
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4.4 Actuator Flow Control The previ
Page 103 and 104:
20 15 Data: wo/ Pcomp Trendline: wo
Page 105 and 106:
eturn P s return main spool P c , Q
Page 107 and 108:
v d + y + e d Σ G cp + Σ v dc G c
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v dc Q req Q cmd + γ Σ − Vel2fl
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control block as separated from and
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4.4.3 Dead-band Transition The prop
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the PI-lead and one with only the p
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1 Elbow Trajectory ∆φ( o ) 0 −
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4.5 Summary This chapter addresses
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CHAPTER V BUCKET FORCE Using pressu
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load pins on the cylinder bases. Co
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5.1.2 LS-Estimation 100 z(cm) 75 50
Page 127 and 128:
Second, velocity needs to be separa
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s 23 = sin(θ 23 ) (5.21) ⎡ ⎤
Page 131 and 132:
⎡ W24 T = ⎢ ⎣ ⎤ gc 24 gc 24
Page 133 and 134:
6 Sequential LLS Bucket−Force(kN)
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Table 5.1: MSE for each degree-of-f
Page 137 and 138:
5.2 Load Cell Measurement D E y 4 H
Page 139 and 140:
Just like the hydraulic force inclu
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⎡ ⎤ Φ = ⎢ ⎣ J 4 l 4 m 4 c
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10 5 F r (kN) 0 −5 Sen Est −10
Page 145 and 146:
CHAPTER VI VIRTUAL BACKHOE In order
Page 147 and 148:
y assuming that valve flow is only
Page 149 and 150:
⎡ ⎤ ⎡ ⎤ ⎡ ⎤ ⎢ ⎣ f b
Page 151 and 152:
⎧ ⎪⎨ λ = ⎪⎩ 0 t < t c &
Page 153 and 154:
100 80 V−HEnRE HEnRE Desired Star
Page 155 and 156:
1 ∆φ( o ) 0 −1 0 1 2 3 4 5 6 7
Page 157 and 158:
CHAPTER VII HAPTIC CONTROL AND EVAL
Page 159 and 160:
velocity, v h are mapped into the b
Page 161 and 162:
Even though it is not used in the h
Page 163 and 164:
0.5 v dc "(m/s) 0 −0.5 0.5 −5 0
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Substituting for the F stall from E
Page 167 and 168:
fact that there was no limit on buc
Page 169 and 170:
10 8 Force (kN) 6 4 2 0 HEnRE − f
Page 171 and 172:
10 8 F dig−peak F dig−ave Force
Page 173 and 174:
7.3.5 Digging Productivity The same
Page 175 and 176:
2 1.5 Force(N) 1 0.5 0 half full of
Page 177 and 178:
Table 7.9: Success rate detecting t
Page 179 and 180:
7.3.7 Subjective Comments Comments
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• “Bucket filled with dirt auto
Page 183 and 184:
7.3.8 Learning As previously mentio
Page 185 and 186:
7.4 Virtual Fixtures Another way to
Page 187 and 188:
90 80 Workspace Limits Path−backh
Page 189 and 190:
The physical power entering the sys
Page 191 and 192:
Human Operator v h f h Master Inter
Page 193 and 194:
The controllers are evaluated using
Page 195 and 196:
scheme called Impedance Shaping is
Page 197 and 198:
elated to bucket torque. In additio
Page 199 and 200:
9. Install a bigger constant displa
Page 201 and 202:
***********************************
Page 203 and 204:
ssSetOutputPortSampleTime(S, 0, Ts)
Page 205 and 206:
f3 = U[10]; f4 = U[11]; /**********
Page 207 and 208:
Y[6] = w3; Y[7] = w4; Y[8] = T1; Y[
Page 209 and 210:
APPENDIX B LAGRANGIAN DYNAMICS The
Page 211 and 212:
The gravity term, G(Θ) originates
Page 213 and 214:
⎡ ω 4|1 = ⎢ ⎣ ⎤ −s 24 ˙
Page 215 and 216:
V (Θ, ˙Θ) = ∂2 KE ∂KE ∂Θ
Page 217 and 218:
APPENDIX C STATISTICS SUMMARY C.1 M
Page 219 and 220:
Table C.14: Confidence interval dat
Page 221 and 222:
Page 223 and 224:
Page 225 and 226:
11. The test was complete with an o
Page 227 and 228:
REFERENCES [1] Adams, R. J. and Han
Page 229 and 230:
[26] Fite, K. B., Goldfarb, M., and
Page 231 and 232:
[53] Hirata, T., Yamagata, E., Wata
Page 233 and 234:
[78] Lamgreth, R., “Smarter shove
Page 235 and 236:
[104] Nguyen, Q., Ha, Q. P., Rye, D
Page 237 and 238:
[129] Tafazoli, S., Peussa, P., Law
Page 239 and 240:
[153] Young, G. N. and Alft, K. L.,
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haptic control of hydraulic machinery using proportional valves

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