Research on Master-Slave Robots Bilateral Control Strategy with Force Tele-Presence

摘要

This paper designed hydraulic servo master-slave robots and studied the force bilateral servo control algorithm. Because of the features of the common symmetry servo valve, the master manipulator can't drive the actors directly and pressure information of the master manipulator is needed through the controller. This process affects the response speed of the control system. The force deviation signal of the master and the slave is adopted to control the slave manipulator and the displacement deviation signal of the slave and the master is adopted to drive the master manipulator. This new control strategy improves the response speed of the master-slave control system. The slave's interference situation can be decided based on how the master follows the slave. Additionally, the new control strategy changed the common control mode that the slave follows the master, and the master feels the slave's force. It is also helpful to make further research and practice on force feedback bilateral control theory.