遥操作机器人, 力反馈, 双向液压伺服控制, 控制策略

Aiming to the problem about big impact feedback force and bad position tracking of parallel force feedback bilateral hydraulic servo control system, a novel force sense bilateral servo control strategy was presented, which regarded the force errors between the master's manipulative force and the slave's resistance as command signals, the position errors and force errors were fed back for driving movement of the master; combined the master-slave control characteristics of tele-operated construction robot. Based on characteristics of tele-operated construction, through carrying on H∞ control with state observer compensated to hydraulic servo control force feedback joystick system, dynamic characteristic difference of hydraulic motor was improved, and experimentation of force sense bilateral servo control were carried on. Experimental results show that the strategy improves manipulative capability of master-slave control system, manipulator can obtain true “force sense” tele-existence, and takes on characteristic of control briefness, constringency rate rapidness, real-time well.