Research On Force Feedback Control Strategy Of Tele-operation Robot

A remote controlled two-way servo control system with force telepresence can transmit force and position information in various complex limit environments to the master operator in the form of feedback forces.At the same time,the operator controls the master hand and transmits control commands from the master to the remote slave hand,thereby completing various tasks.The performance of the remote control system has an important impact on the quality of task completion,so improving the performance of the remote control two-way servo control system becomes particularly important.In order to reduce the complexity of the master-slave remote control system,two3-degree of freedom handles are used to control the slave 6-DOF series manipulator.The D-H method is used to establish a coordinate system,calculate the forward and inverse kinematics formulas of the slave manipulator,derive the dynamic model of the slave manipulator using the Lagrange method,calculate the workspace using the Monte Carlo method,and calculate the singular configuration of the mechanism using the Jacobian matrix.Based on this,the trajectory planning of the 6-DOF robot arm is carried out.The robot obstacle avoidance method using the improved artificial potential field method is used to plan the path of the robot arm,and the spatial arc and B-spline curve planning methods are used to optimize the trajectory of the robot arm.This paper analyzes the advantages and disadvantages of existing bidirectional servo control strategies,and proposes a new bidirectional servo control strategy based on a comprehensive force position control strategy.The control strategy determines the force conditions of each joint space on the driven side by using task space and free space,and forms the same constraints as on the driven side by manipulating the equipment on the main side,enabling the operator to accurately feel the interference force at the driven end.The stability of the new bidirectional servo control strategy is analyzed based on the Lyapunov criterion.Joint simulation was conducted using MATLAB/Simulink and Solidworks.Finally,experiments were conducted to verify the effectiveness of the proposed new bidirectional servo control strategy.The experimental results show that the maximum feedback force in the y and z directions decreases by 27.8% and 26.5%respectively when the hand is interfered in the x direction.Using a new bidirectional servo control strategy can enable the operator to accurately grasp the interference force and displacement of the driven robot arm under the conditions of free movement of the hand,contact with elastic objects,and interference from obstacles.