| Summary: | Issues concerning the design and implementation of master-slave force-reflecting resolved
motion control of hydraulic mobile machines are addressed in this thesis.
Network concepts and linear system theory are used to design and analyze general force-reflecting
teleoperator systems to achieve high performance while maintaining stability. A new
control structure is proposed to achieve "transparency" for teleoperator systems under rate control.
A novel approach to stability analysis of the stiffness feedback strategy proposed in previous
work is provided which, under certain condition, guarantees global asymptotic stability of the
teleoperator system. The system could be either under rate or position control and could be
subject to time-delays, nonlinearities or active environments.
The closed-form inverse kinematics solutions of an excavator and a feller-buncher, which
are four and five degree-of-freedom manipulators respectively, are provided to achieve resolvedmotion
of the manipulator's end-effector.
Using the UBC magnetically levitated joystick, the master-slave force-reflecting resolved
motion control has been successfully implemented on a CAT-215 excavator and a CAT-325
feller-buncher. Machine experiments demonstrate the effectiveness of this control strategy in
improving productivity and safety of general hydraulic mobile machines. === Applied Science, Faculty of === Electrical and Computer Engineering, Department of === Graduate
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