| It’s very difficult to research and develop intelligence robots working fullyautonomous due to the current level of technology is limited.People can by means ofteleoperating technology accomplish complicated and accurate tasks in extreme anduncertain environment that’s difficult for people to approach,such as hightemperature,high pressure and high radiation.The teleoperating technology with hapticand visual presence can give the operator immersive experience,which makes sure theoperator get the precise interaction information between the slave side and theenvironment,thus doing teleoperating tasks’ efficiency and accuracy are improved,aswell as the teleoperating system’s handling performance,so it’s of very importantpractical significance to study the teleoperating system with presence.In this paper,combined with the national natural science foundation-fundedproject ’Teleoperating multi-DOF electro-hydraulic servo parallel manipulator withaccurate force feedback’(No.50975118),we will study the new teleoperating6-DOFelectro-hydraulic manipulator with force feedback built by Construction Robot Lab ofJilin University as follows:1.analysed the kinematics and dynamics characteristic of the6-DOF parallelmanipulator,including position forward and inverse solution and the deduction of thedynamic model.Secondly introduced the components of the6-DOF teleoperatingparallel manipulator,deduced the transfer function of each subsystem and establishedthe mathematical model of the electro-hydraulic servo system.2.Designed the controller for electro-hydraulic servo system.The system studiedin the paper is close-loop stable but slightly overdamped.To meet the demand ofelectro-hydraulic servo control system and make sure the system have good static anddynamic performance,this paper designed quadratic controller with state feedback,andachieved full state feedback through the designed state observer.To improve thesystem’s adaptive ability to parameter changes,this paper designed two kinds ofadaptive controller that respectively based on error polynomial theory and PopovHyperstability theory.3.Studied the anti-disturbance method of the electro-hydraulic servo system.The disturbance in electro-hydraulic servo systems can reduce the performance of controlsystem.To reduce the impact that system disturbance has on the electro-hydraulicsystem,this paper studied two ways of restraining the disturbance in electro-hydraulicservo system:Firstly use the state observer tracking anti-disturbance method toeliminate the6channels’ response characteristics differences,then the dynamic robustcompensator to restrain many kinds of disturbance in the system.4.Studied a new bilateral servo control strategy.Firstly introduced severalcommon bilateral servo control strategies and analysed advantages anddisadvantages;then introduce a new bilateral servo control strategy to solve theproblems of the existing control strategy.Experiment research shows that it’s practicaland effective.This paper studied teleoperating control technology in detail, analysed thekinematics and dynamics characteristic of the manipulator,designed the controllerswith good performance, and did experiment research on new multi-DOFforce-feedback control strategy, which can provide reference for later research. |
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