Abstract
Dual-layered parallel impedance control is proposed for a hydraulic master-slave system. It has the characteristic of constructing two layers at both the master and the slave site. In each layer, two parallel subsystems are introduced, and impedance matching between the two parallel subsystems is accomplished. Stability condition of the master-slave system is also discussed. The major contribution of this paper is a realization of new human-centered maneuverability in a hydraulic master-slave system by tailoring the virtual impedance of the master to suit the operator for a given task. The proposed control architecture is applied to a hydraulic master-slave system and its validity is proved by the experimental results.
