Research On Force Feedback Of Electro-hydraulic Servo Teleoperation Robot Based On Position-velocity Control

By means of teleoperation system people can accomplish complicated tasks inextreme environment which is harmful to people or people cannot reach, such asspace, deep sea and high radiation situations. The technology of teleoperation robotgreatly expands the field of human activity, promoting the development of the societyto a certain extent. The teleoperation system with force tele-presence can be betterable to complete the remote control task, because with force feedback the operator canfeel the situations between slave manipulator and environment.This paper is combined with the national natural science foundation-fundedproject ’Teleoperating multi-DOF electro-hydraulic servo parallel manipulator withaccurate force feedback’(No.50975118). Theories and methods are researched anddiscussed to modify and perfect the force tele-presence technology.We have established the isomorphism teleoperation robot system based on the2-dof decoupling electro-hydraulic servo control manual device which is developedby Jilin University construction robot lab, and we have established the mathematicalmodel of electro-hydraulic servo system of the teleoperation robot system. For theslave velocity tracking characteristics with displacement of master, we have designedfuzzy adaptive PID controller. The controller which with flexible control, highprecision and good robustness is established by fuzzy reasoning combined with PIDcontrol theory. Then, we have composed of bilateral servo teleoperation controlalgorithm based on the position-velocity control and improved variable-gain velocitycontrol model. We have also established the teleoperation robot simulation system. Inthe end for the slave manipulator in the no load, elastic load and rigid load we havecarried on the simulation analysis. Simulation results show that the trackingcharacteristic of the slave following the master is very good. The simulation resultsalso show that the improved variable-gain velocity control algorithm can makesatisfactory results for the force feedback to the operator when grasping objects.These results demonstrate the feasibility of the method, which can provide referencefor later research.