Master-slave Control Strategy of Tele-Manipulator
For the structural features of the zero-opening servo valve, the master manipulator cant drive itself actuators directly, it can only be driven by the information through the controller indirectly. This process will inevitably affect the response speed of the control system. Force differential between the master and the slave is used as the masters control signal, and the position differential and force differential are used as the slaves control signal to realize the force tele-presence. The new control structure is different from the traditional mode that the slave follows the masters movement and the master feels the force from the slave. According to the masters tracking the slave to determine whether there is interference in the slave. By using PID parameter itself-adjusting fuzzy control method as the control algorithm, the response speed of the mater-slave control system is improved. Comparative experiments show that the new control structure and control algorithm can be a reference to the theory research and practice on the bilateral control with force feeling.
Zhuxin Zhang Dingxuan Zhao
Changchun Institute of TechnologyJilin Changchun 130012,China Jilin University Jilin Changchun 130025,China
国际会议
2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)
桂林
英文
2063-2067
2009-12-19（万方平台首次上网日期，不代表论文的发表时间）