Research On Bilateral Control Strategy Of Isomerism Master-slave Tele-manipulator

The key aspect of the bilateral control system based on force tele-presence is to feed back the position and force information from the slave-manipulator to the master manipulator,so that the operator can accurately sense the slave status,which means the system having good force telepresence.Force telepresence can provide key information for operators to make decisions and perform teleoperation tasks,and is an important goal pursued by the force feedback master-slave teleoperation bilateral control system.Therefore,how to improve telepresence bilateral control system telepresence has important research significance.The paper developed under the project named “Tele-operation multi-DOF electro-hydraulic servo parallel manipulator with accurate force feedback”(No.50975118),and researched the new strategy for the bilateral control system based on force tele-presence aimed at improving teleoperation system force telepresence.In this paper,the three-DOF teleoperation system is taken as the research object.Firstly,the kinematics of a new type of three translational degree of freedom parallel manipulator is analyzed,and the inverse and positive kinematic equations of the new parallel manipulator are deduced.The singularity,dexterity and work space of the new parallel master manipulator are analyzed,and the genetic algorithm is used to optimize the size of the master manipulator with the objective of optimizing the global Jacobian matrix and working space proportion;Secondly,the dynamics of the master manipulator is studied with the principle of virtual displacement,and the dynamicsbased feedforward control system of the master manipulator is established and the control parameters are set.The simulation shows that control system of the master manipulator has a good dynamic response.Aiming at the problem that the bilateral teleoperation system cannot accurately feedback the force information and the impact on operator,this paper introduces the position restraint space theory into the bilateral teleoperation system and puts forward a position+force-position integrated bilateral control strategy based on position restraint space.Using the Jacobian space of the slave manipulator to replace the traditional gain matrix,and constructing the same position restraint space between the master manipulator and slave manipulator,the magnitude and direction of the feedback force was accurately acquired,and the transparency of the bilateral teleoperation system was improved.Simulation results show that,in the system using new control strategy based on position space,the magnitude and direction of the interference force from the end of the reaction are more accurate from slave manipulator,leading to a more realistic system.