Artykuł

Vol: 33 , Nr: 3 , Art.: 3
Tytuł / Title:
Haptic joystick in admittance control of electrohydraulic drive
Autorzy / Authors:
MILECKI Andrzej
Instytut Technologii Mechanicznej Politechniki Poznańskiej
Słowa kluczowe / key words:
haptic joystick, admittance control, impedance control, electrohydraulic drive
Streszczenie / Summary:

In the paper the application of haptic joystick with magneto-rheological (MR) brake in control
of electrohydraulic drive is presented. Two impedance and admittance control methods are shown.
Basing on main equations describing electrohydraulic drive, the simulation model of an admittance
control system is proposed. The results of chosen simulations are presented. Laboratory test stand
is described including chosen investigation results. The advantages of haptic joystick applications
and admittance control of electrohydraulic drive are shortly demonstrated.