Bilateral control of hydraulic servo system for end-effector of master-slave manipulators

摘要

In this research a bilateral control in hydraulic servo system for end-effector of master-slave manipulator is proposed. End-Effector of hydraulic servo system is used in dismantling nuclear power plant. A bilateral control strategy in hydraulic servo system is recommends for the robust position tracking between the master and slave. Sliding mode control with sliding Perturbation observer (SMCSPO) is used to a proposed bilateral controller for the robust position tracking control of a slave. This research verifies through experiment that slaver can follow the trajectory of the master device using the proposed bilateral control strategy.