Browse > Article
http://dx.doi.org/10.7746/jkros.2017.12.1.001

SPO based Reaction Force Estimation and Force Reflection Bilateral Control of Cylinder for Tele-Dismantling  

Cha, Keum-Gang (School of Mechanical Engineering, Pusan National University)
Yoon, Sung Min (School of Mechanical Engineering, Pusan National University)
Lee, Min Cheol (School of Mechanical Engineering, Pusan National University)
Publication Information
The Journal of Korea Robotics Society / v.12, no.1, 2017 , pp. 1-10 More about this Journal
Abstract
For dismantling heavy structure under special environment in radioactivity, there are many problems which should be tele-operated and feedback a cutting force for cutting a thick structure such as concrete. When operator dismantles a thick heavy concrete structure, it is in sufficient to judge whether robot is contacting or not with environment by using only vision information. To overcome this problem, force feedback and impedance model based bilateral control are introduced. The sliding mode control with sliding perturbation observer (SMCSPO) based bilateral control is applied and surveyed to a single rod hydraulic cylinder in this paper. The sliding mode control is used for robustness against a disturbance. The sliding perturbation observer is used for estimation of a reaction force such as cutting force. The bilateral control is executed using the information of reaction force estimated by SMCSPO. The contribution of this paper is that the estimation method and bilateral control of the single rod hydraulic cylinder are introduced and discussed by experiment.
Keywords
Hydraulic cylinder; SMCSPO; Impedance control; Bilateral control; Reaction force;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
연도 인용수 순위
1 H.B. Shim and Y.J. Joo, "State space analysis of disturbance observer and a robust stability condition." In Decision and Control, 2007 46th IEEE Conference on, pp. 2193-2198. IEEE, 2007.
2 K.S. You, M.C. Lee, and W.S. Yoo, "Sliding Mode Controller with Sliding Perturbation Observer Based on Gain Optimization using Genetic Algorithm," KSME International Journal, vol. 18, no. 4, pp. 630-639, 2004.   DOI
3 M.C. Lee, C.Y. Kim, B. Yao, W.J. Peine, and Y.E. Song, "Reaction Force Estimation of Surgical Robot Instrument Using Pperturbation Observer with SMCSPO Algorithm," IEEE/ASME Proceeding of Advanced Intelligent Mechatronics (AIM) 2010, pp. 181-186, 2010.
4 S.M. Yoon, W.J. Kim, and M.C. Lee, "Design of bilateral control for force feedback in surgical robot." International Journal of Control, Automation and Systems, vol. 13, no. 4, pp. 916-925, 2015.   DOI
5 J.T. Moura, H. Elmali, and N. Olgac, "Sliding mode control with sliding perturbation observer." Journal of Dynamic Systems, Measurement, and Control, vol. 119, no. 4, pp. 657-665, 1997.   DOI
6 J.W. Cho, "Investigation of the Emergency Response Robots Used for Mitigation of Severe Accident of the Fukushima Nuclear Power Plant." Institute of Control, Robotics and Systems Conference, pp. 1-8, 2011.
7 J.S. Hong and Y.C. Lee, "The Policy, R & D Trends and Key Issues after the Fukushima Nuclear Accident." Korea Institute of S&T Evaluation and Planning 5, 2012.
8 V. Stojanovic and V.G. Oklobdzija. "Comparative analysis of master-slave latches and flip-flops for highperformance and low-power systems." Solid-State Circuits, IEEE Journal, vol. 34, no. 4, pp. 536-548, 1999.   DOI
9 T.D. Cho, S.H. Seo, and S.M. Yang, "A Study on the Robust Position Control of Single-rod Hydraulic System." Journal of the Korean Society Precision Engineering, vol. 16, no. 3, pp. 128-135, 1999.
10 M. Jelali and A. Kroll, "Hydraulic servo- systems: modelling, identification and control." Springer Science & Business Media, 2012.
11 S.M. Yoon, W.J. Kim, and M.C. Lee, "Impedance Model based Bilateral Control for Force reflection of a Laparoscopic Surgery Robot." Journal of Institute of Control, Robotics and Systems, vol. 20, no. 8, pp. 801-806, 2014.   DOI
12 H. Park, P.K. Kim, J. Park, J.R. Jang, Y.D. Shin, J.H. Bae, J.H. Park, and M.H. Baeg, "Robotic Peg-in-Hole Assembly by Hand Arm Coordination, " Journal of Korea Robotics Society, vol. 10, no. 1, pp. 42-51, 2015.   DOI
13 S.W. Song and J.B. Song, "Development of a 5 DOF Manipulator for Weight Handling based on Counterbalance Mechanism," Journal of Korea Robotics Society, vol. 11, no. 4, pp. 242-247, 2016.   DOI
14 M.C. Lee and N. Aoshima, "Identification and Its Evaluation of the System with a Nonlinear Element by Signal Compression Method", SICE, vol. 25, no. 7, pp. 729-736, 1989.
15 S.H. Cho and M.W. Lee, "Simple Adaptive Position Control of a Hydraulic Cylinder-Load System Driven by a Proportional Directional Control Valve." Journal of the Korean Society for Precision Engineering, vol. 28, no. 8, pp. 936-941, 2011.
16 M.K. Park and M.C. Lee, "Identification of Motion Platform Using the Signal Compression Method with Pre-Processor and Its Application to Siding Mode Control", KSME International Journal, vol. 16, no. 11, 1379-1394, 2002.   DOI