电液手控器型遥操作机器人力反馈控制策略

Bilateral Servo Control of Tele-robot Based on Electro Hydraulic Manipulator

针对现有电动力反馈操纵装置存在刚度小、力效果不明显的问题,设计了电液伺服力反馈手控器。该手控器在水平方向上具有X、Y两个旋转自由度,每个自由度采用单独的伺服阀控液压马达驱动,空间运动互不干涉。综合传统的力反射伺服型和并列型双向伺服控制算法的优点,提出力/位置偏差复合型主从双向控制策略。以液压手控器为主手,四自由度工程机器人为从手,进行主从遥操作力反馈双向伺服试验研究。验证了力/位置偏差复合型控制算法能有效提高系统响应的快速性和稳定性。

Aiming at the problem of low stiffness and indistinctive force perception existing in current electronic manipulator,an electro-hydraulic force feedback manipulator was set up.The manipulator had two rotational degree of freedom along X and Y direction in horizontal space,and each was driven by a single hydraulic servoing motor.Therefore,the motion of the manipulator along its different rotational axes would not interfere each other.Synthesizing the advantages of traditional bilateral control algorithm of force reflection servo type and parallel type,a combination of force/position deviation bilateral control strategy was put forward.Taking the hydraulic manipulator as the master and a 4-DOF construction robot as the salve,a tele-robot operation experiment was tested to study the bilateral servoing algorithm.Experiment showed that the combination of force/position deviation bilateral control strategy could effectively improve the dynamic response and stableness of the system.