遥操作工程机器人力觉双向伺服控制系统

Bilateral hydraulic servo control system based on force sense for tele-operated engineering robot

针对并行机构的力反馈双向液压伺服控制中所存在的反馈力冲击大及位置跟随差的问题,提出了一种以主、从手之间的力偏差作为主动端控制信号,位置偏差和力偏差形成从手控制量的改进并行型力觉反馈控制算法;结合遥操作工程机器人主从控制的特点,建立了该算法的动力学模型;搭建并分析了两自由度双向伺服控制实验系统。实验结果表明,该控制算法明显改善了主、从控制系统的操纵性能,操作者能够获得真实的力觉临场感,同时具有控制简单、收敛速度快、实时性好的特点。

Aiming at alleviation of the problem associated with the strong force-feed back impact and the poor position tracking in the bilateral hydraulic servo-control system with the parallel force-feedback, an improved bilateral servo-control algorithm with parallel force-sense was proposed. The algorithm takes the error betwen the master＇s manipulative force and the slave＇s resistance as the signal to control the driven end, and the position and force errors form the master＇s driving movement. Based on the master-slave control features of the tele-operated engineering robot, its dynamics model integrating the proposed algorithm was formed and an experimental system for the 2-DOF bilateral servo-control was built and the experiments were performed and analyzed. The results showed that the proposed algorithm improves the manipulative capability of the masterslave control system, the operator can feel the tele-existence of force-sense, and the system makes a feature of control simplicity, quick convergency and good real-time character.