Experimental study on bilateral control method by force and position fusion

摘要

In this paper, a bilateral control method of master slave robot system is conducted. The authors propose a bilateral control method by fusing for force control system and position control system. The master slave robot system is that angle of master robot arm as position information by operator send to slave robot system as control command and then a load received from slave robot arm send to master robot system as control command of force feeling when slave robot arm is moving to follow the master robot arm movement. To realize such master slave system, the authors propose bilateral control system that force control system and position control system are treated simultaneously. In this paper, a fusion system between position control system and force control system by PD feedback controller is constructed. And more the authors equip the master slave robot system with one DOF robot arm rotation system and such bilateral control system. To verify the effectiveness of proposing bilateral control system for master slave robot system, two case experiments are executed and obtained the result is evaluated.