Research on the Variable Gain Control Strategy of Tele-operation Redundant Robot

摘要

According to the force feedback effect is not sufficient and the impact on the operator's problems, the variable gain position constraint space bilateral servo force feedback control strategy is put forward in this paper. The mathematical model of the electro-hydraulic servo control system of the master-slave hand is established, then the PD controller is designed by using the parameter space graphic method to improve the dynamic response characteristics of the electro hydraulic servo system. Finally, through the simulation experiments under the conditions of no load, spring load and rigid load, the effectiveness of the proposed control strategy is verified.