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Abstract

A master–slave system consisting of a hydraulic Stewart mechanism is developed. This system can be used for grinding complex curved surfaces while keeping the operator away from the harmful dust produced. To solve the feedback force impact problem when the slave platform makes contact with a rigid object, a motion tracking controller with a strategy-switch algorithm is designed for the master site. For the slave platform, an H_∞ controller with antiwindup synthesize is first designed. The H_∞ controller ensures position accuracy during motion. The antiwindup controller ensures the stability of the hydraulic cylinder when the load force limitations are reached, which may cause the upper platform to move to uncertain direction and the function of the manipulator changes worse rapidly. Those are achieved using a new work-space-based bilateral servo control framework by which the machining precision requirement can be decreased compared to that in the leg-space-based framework. Simulations and experiments are performed to verify the performance of these algorithms.

Keywords

Parallel mechanism bilateral control H∞strategy-switch algorithm hydraulic

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Investigation of bilateral control for hydraulic Stewart master–slave system

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