Research on position feedback bilateral servo control methods of tele-operating manipulator

摘要

To solve the problems in bilateral servo control strategy of tele-operating manipulator, such as the poor tracking capability between master and slave manipulator, and force feedback imposed on the master hand when grasping strong objects, this paper proposes a bilateral servo control algorithm. Meanwhile, status investigator is used to minimize the dynamic differences of operating lever hydraulic system and eliminate the interferences of damping, friction and inertia resistance. 2DOF master-slave tele-operating system experimental panel is built up, and the experiments have been done. The experiments show that the control strategy proposed in this paper can improve effectively the force tele-existence of high stiff control joystick and the master-slave position following capability, solve sufficiently the problem of feedback force existing in some feedback force control algorithm when fetching high-stiffness objects, and provide a successful example for the practical application of force tele-existence tele-operating manipulator.