Study on Force Feedback Control Method of Tele-robot
Aiming at the shortcoming of position-position type of control method in tele-operation field such as when the main manipulator fetch the control position, sense of force would disappear so that the operator can not perceive the stress of slave hand, a new position-force type of force feedback control method was proposed in this paper, based on this control method we set up the experiment platform composed of master-slave swing hydraulic motor which are controlled by electro-hydraulic proportional valve, and tracking perfom-ance experiment of force and position were done on the platform, experiment results confirmed that the control strategy proposed in this paper is correct, it can realize the initiative force feedback of position-force type and the operator can obtain a real force telepresence, force feedback control performance of the system was improved significantly.
Tele-robot Force feedback Bilateral servo control method
Zhao Dingxuan Xu Miao
College of Mechanical Science and Engineering, Jilin University, Changchun 130025, P.R. China College of Mechanical Science and Engineering, Jilin University, Changchun 130025,P. R. China
国际会议
长春
英文
15-18
2009-08-21（万方平台首次上网日期，不代表论文的发表时间）