Accession Number : ADA291632
Title : Bilateral Force Feedback for Hydraulically Actuated Systems.
Descriptive Note : Master's thesis,
Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA
Personal Author(s) : Johnson, Gregory S.
PDF Url : ADA291632
Report Date : DEC 1994
Pagination or Media Count : 120
Abstract : This thesis report discusses the design, construction, and experimentation of force feedback in one and two degrees of freedom, hydraulically actuated systems. A master hydraulic unit is used to positionally control a remotely located slave hydraulic unit. An obstruction in the path of the slave unit is used as a force control to the master unit, reducing the power assist to the operator. An analysis was conducted to predict the performance and stability of the system for various amplifier gain settings. One and two degrees of freedom models were constructed to verify the analysis and to physically observe the force feedback. (AN)
Descriptors : *ROBOTICS, *FORCE(MECHANICS), COMPUTER PROGRAM DOCUMENTATION, MATHEMATICAL MODELS, DATA PROCESSING, STABILITY, EXPERIMENTAL DATA, CONTROL SYSTEMS, COMPARISON, DYNAMIC RESPONSE, MOTION, THESES, STRAIN(MECHANICS), DEGREES OF FREEDOM, MATHEMATICAL PREDICTION, FEEDBACK, HYDRAULICS, DESIGN CRITERIA, DATA LINKS, FRICTION, REMOTE CONTROL, BENDING STRESS, TELEOPERATORS, POTENTIOMETERS, HYDRAULIC ACTUATORS.
Subject Categories : Mechanics
Hydraulic and Pneumatic Equipment
Distribution Statement : APPROVED FOR PUBLIC RELEASE