Design of the Master-Slave System and Research on Bilateral Servo Control System of Tele-Operated Manipulation Robots
The master-slave force feedback bilateral control system has been set up in this paper. The master manipulator is a 2-DOF system, which adopts servo valves to control hydraulic servomotors to obtain two rotational degrees, and force information is used to control the servo valve so the master manipulator hydraulic servomotor can be droved. Thus the problem that the master cant directly drive the hydraulic motor is solved. The slave manipulator is a 4-DOF system that the original hydraulic shovel bucket is replaced by a new single degree manipulator claw, which set up a series joint type 4-DOF robot. Hydraulic proportional valve control method is applied to the slave manipulator. In the experimental system, two 2-DOF master manipulators were employed to control the 4-DOF slave robot. Force reflection servo and force symmetry servo bilateral servo control strategies are individually tested on the master-slave system to study the tele-operated force feedback bilateral servo control. Through theory analysis and experimental tests, it is proved that the masters structure is reasonable, and the force symmetry servo bilateral servo control strategy has perfect control performances.
Master-slave robots Force tele-presence Tele-operated Electro-hydraulic servo system Force reflection control method Force reflection servo type control strategy Force symmetry servo type control strategy
Zhuxin Zhang Dingxuan Zhao Tiehua Chen
College of Mechanical science and engineering Jilin university Jilin Changchun 130025, China School of Energy and Power Changchun institute of technology Jilin Changchun 130012, China
国际会议
2007 IEEE International Conference on Automation and Lofistics
山东济南
英文
2007-08-18（万方平台首次上网日期，不代表论文的发表时间）