| The redundant robot is suitable for work in unstructured environments,which has been widely used in Tele-operation robot system,especially in the complex mission environment and remote medical system,space Tele-operation robot system and deep sea Tele-operation robot system.Therefore,it is of great significance to study the Tele-operation redundant freedom robot system.This paper developed under the research fund for the doctoral program of higher education named “the Bilateral Servo Control Strategy of tele-operation of electro-hydraulic under actuated redundant robot”(No.20130061110009),studies the method of improving the performance of force feedback control of tele-operation electro-hydraulic redundant robot system.Firstly,this paper uses DH coordinate method to establish the forward kinematics equation of slave redundant manipulator.This paper,in view of the existence of obstacle in the end trajectory,applying the closed loop control algorithm for obstacle avoidance based on the transformation of master and slave tasks,deduces the closed loop control algorithm for obstacle avoidance,applies Lagrange method to establish dynamic equation.Secondly,to the Nonlinearity and Uncertainty of Electro-hydraulic Position Servo Control System,designs PD controllers with gray predictive control for genetic algorithm on-line adaptive parameter tuning.Finally,In view of the existence of time delay,the operator causes erroneous operation due to feel the feedback force lag.By introducing the virtual feedback force model by adding the distance information to the master controller,the bilateral servo control force feedback strategy based on position constrained space method is improved.So that the operator can not only feel the force feedback in advance,but also feel the size and direction of the force feedback,improving the operating efficiency and transparency of the tele-operation system.The simulation results show that the proposed method is effective. |
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