遥操作工程机器人改进力反馈控制方法

针对力觉临场感遥操作工程机器人双向液压伺服控制系统,在采用p-f型控制结构时,容易产生反馈力冲击问题,提出了基于T-S型模糊推理逻辑构造一个非线性模糊变增益力反馈系数,构成改进的力反馈控制方法。设计了RBF-PID型参数可调控制器,形成双向液压伺服控制系统,通过实验验证了改进方法的有效性。实验结果表明,改进的力反馈控制方法既能保证从手对主手的位置跟随精度,又能使主手连续的跟随从手受力情况,减小了反馈力冲击现象,增加了力反馈的平顺性。提高了力反馈遥操作工程机器人系统的操作性能和透明度。

Improved force feedback control method for construction telerobot

In the bilateral hydraulic servo control system of a construction telerobot with in-situ force sensing,the p-f type force feed back architecture is liable to result in an impact on the operator hand,and its high amplitude will cause the control unstable.So,based on the T-S type fuzzy reasoning logic,an improved force feedback control strategy with the feedback scaling which could be modified online nonlinearly and continuously was proposed.A RBF-PID force controller with adjustable parameters was designed and a new bilateral hydraulie servo control system was developed.Its experimental results showed that the proposed force feedback control strategy improves the tracking precision of the slave-hand to the master-hand,makes the master-hand follow well the force acting on the slave-hand,reduces the impact of the feedback force, enhances the compliance and transparency of the teleoperation of the construction telerobot system.