力觉反馈的电液位置伺服控制系统研究

Research of Electro-hydraulic Position Servo with Force-feedback

通过对力觉临场感主从机械手分析 ,借鉴电随动主从随动控制系统的研究方法 ,结合液压主从操纵机器人的特殊性 ,综合考虑了对称型和力直接反馈型双向伺服控制系统的特点 ,提出了力位置综合型双向伺服控制算法 ,以位置误差和位置误差的变化率形成力反馈控制量 ,以从端受力形成力反馈控制量的增益。

In this paper the master slave manipulator with force telepresence and the particulatity of master slave hydraulic robot were analysed. A force position servo control algorism was presented by referring to the research method of master slave electromotor control system and synthetically considering symmetric position and force reflection bilateral servo control. Force feedback signal is generated by position errors and its differential, and the gain of force feedback signal is formulated by slave force. The simulation results prove that the new algorism is efficient.