电液伺服遥操作机器人的力觉临场感研究

Telepresence with Force-feedback to Electronhydraulic Servo Telerobot

该文借鉴电机驱动主从随动控制系统的研究方法 ,并结合液压系统的特殊性 ,对电液伺服遥操作主从机械人的力觉临场感进行了分析。综合了对称型双向伺服控制系统和力直接反馈型双向伺服控制系统的优点 ,以从端受力形成力反馈控制量的增益 ,位置误差和位置误差的变化率形成力反馈控制量 ,提出了改进对称型控制算法 ,即力—位置综合型双向伺服控制算法。实验结果验证了新方法的有效性。

Referring to the methods of master slave control system electromotor and considering the particularity of hydraulic servo system, this paper analyses the force telepresence of master slave robot with electronhydroulic servo teleoperation. After integrating the advantages of symmetric position master slave servo control system and force feed back master slave control system, the mended symmetric control system named force position master slave servo control system is developed, which formulates the gain of force feedback signal by slave force and forms force feedback signal by position errors and its differential.The experimental results show the new technique is efficient.