Hydraulically powered dissimilar teleoperated system controller design
نویسندگان
چکیده
This paper will address two issues associated with the implementation of a hydraulically powered dissimilar muster-slave teleoperated system. These issues are the overall system control architecture and the design of robust hydraulic servo controllers for the position control problem. Finally, a discussion of overall system performance on an actual teleoperated system will be presented. (Schilling's Titan I1 hydraulic manipulators are the slave manipulators and the master manipulators are from the Oak Ridge National Laboratory-developed Advanced Servo Manipulator.)
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