遥操作机器人力反馈双向伺服控制策略研究

针对并行机构的力反馈双向液压伺服控制中所存在的反馈力冲击大及位置跟随差的问题,提出一种以主、从手之间的力信号作为从动端控制信号,位置信号形成主手控制量的新型力觉反馈控制算法。应用阀控液压缸和力传感器构成液压力伺服控制器,构建力反馈双向伺服控制试验系统。在空载、抓轮胎和抓石块3种负载情况下,分别进行了力、位置跟随性能实验。实验结果表明:该力反馈控制方法既能保证从手对主手的位置跟随精度,又能使主手准确连续地跟随从手受力情况,明显改善了主-从控制系统的操纵性能,操作者能够获得真实的力觉临场感,提高了力反馈透明性。

Research on Improved Parallel Bilateral Servo Control Arithmetic for Tele-robot with Force Tele-presence

Aiming at the problems about big impact feedback force and bad position tracking of parallel force feedback bilateral hydraulic servo control system,an improved parallel force sense bilateral servo control arithmetic was presented,in which the force error between the master’s manipulative force and the slave’s resistance was regarded as command signal to control the slave end,the position error was fed back to drive the master end.Valve-controlled hydraulic cylinder and force sensor were used to construct hydraulic servo controller and two-DOF bilateral servo control experimental system was built.The experimental results show that using the control method,the manipulative capability of the master-slave control system is improved.Manipulator can obtain true force tele-presence.It has the characteristics of control briefness,rapid constringency rate,good real-time.