Research on Improved Force Feedback Control Method for Construction Telerobot

摘要：

In construction telerobot system. When p-f architecture force feedback was used, the impact of large feedback force result in the strike-like feeling on the operators hand. If the amplitude is high, it will cause the control unstable. So a improved force feedback control method with the feature of a T-S fuzzy feedback coefficient, which could be modified online nonlinearly and continuously, is developed. A RBF-PID force controller is also designed, and formed a bilateral hydraulic servo control system. The experimental results indicate that the new improved control method reduced the impact of the feedback force, enhanced the compliance and transparency of the teleoperation of construction telerobot system.

关键词： Fuzzy feedback coefficient Force Feedback Construction Telerobot

作者: Guang Wen Hong-yan Zhang

作者单位: School of Machinery and Engineering Pan-zhihua University Pan-zhihua,Sichuan Province,China Institute of Mechanical Science and Engineering Jilin University ChangChun, China

会议类型: 国际会议

会议名称: 2010 IEEE International Conference on Intelligent Computing and Intelligent Systems(2010 IEEE 智能计算与智能系统国际会议 ICIS 2010)

会议地点: 厦门

会议语种:英文

页码: 57-61

在线出版日期: 2010-10-29（万方平台首次上网日期，不代表论文的发表时间）