Design of the Master-Slave System and Research on Bilateral Servo Control System of Tele-Operated Manipulation Robots

Abstract

The master-slave force feedback bilateral control system has been set up in this paper. The master manipulator is a 2-DOF system, which adopts servo valves to control hydraulic servomotors to obtain two rotational degrees, and force information is used to control the servo valve so the master manipulator hydraulic servomotor can be droved. Thus the problem that the master can't directly drive the hydraulic motor is solved. The slave manipulator is a 4-DOF system that the original hydraulic shovel bucket is replaced by a new single degree manipulator claw, which set up a series joint type 4-DOF robot. Hydraulic proportional valve control method is applied to the slave manipulator. In the experimental system, two 2-DOF master manipulators were employed to control the 4-DOF slave robot. Force reflection servo and force symmetry servo bilateral servo control strategies are individually tested on the master-slave system to study the tele-operated force feedback bilateral servo control. Through theory analysis and experimental tests, it is proved that the master's structure is reasonable, and the force symmetry servo bilateral servo control strategy has perfect control performances.