遥操纵多自由度电液伺服并联机械手力反馈控制策略

针对遥操纵并联机械手的力反馈双向伺服控制中所存在的多自由度力、位移耦合问题,提出了新的双向伺服力反馈控制策略。该控制策略将与从动机械手接触的工作阻力大小和方向通过位置空间传递给主动侧,为操作者提供与从动侧完全相同的位置空间,将操纵手柄变为实现从动侧约束的设备,从而实现从动机械手工作阻力反馈。应用阀控液压缸和力、位移传感器构成的多自由度并联主从操纵手柄,构建力反馈双向伺服控制试验系统。针对新型控制策略进行了力、位置跟随性能试验。试验结果证明了该力反馈控制策略的有效性,改善了主-从控制系统的操纵性能。

Force feedback control strategy of tele-operation based on electro-hydraulic multi-freedom parallel manipulator

The paper presents a novel control strategy to solve the problems such as multiple-freedom force and displacement coupling exiting in the bilateral servo force-feedback control architecture for tele-operation parallel manipulators.The control strategy transfers values of the connected working resistance and the direction both in the slave side to the master side through the position space,which can provide the operator with the constrained space the same as the slave side.The manipulator then becomes the constrained device representing the conditions of the slave side,which achieves force-feedback from the working resistance.The experimental system mainly consists of valve-controlled hydraulics and the multiple-freedom parallel manipulator with force and position sensors.The results show that the proposed force-feedback control strategy is effective and improves the manipulability for the master-slave control system well.