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
      Cybernetics
      Hydraulic and Pneumatic Equipment

Distribution Statement : APPROVED FOR PUBLIC RELEASE