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首页> 外文会议>World Congress on Intelligent Control and Automation;WCICA 2010 >Research on Bilateral Control Strategy of Tele-operation 4-DOF Manipulators with Force Tele-presence
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Research on Bilateral Control Strategy of Tele-operation 4-DOF Manipulators with Force Tele-presence

机译：力遥临场遥操作四自由度机械臂双边控制策略研究

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摘要

Tele-operation consists of movement control and force control, of which the key is tele-presence. This paper presents the components of the 4-DOF tele-operation system, displacement and force servo control principle. The manipulators are driven by hydraulic servo system. Because of the features of the common symmetry servo valve, the master manipulator can’t drive the hydraulic cylinders directly and force information of the master manipulator is needed through the controller. This process affects the response speed. In order to improve this of response delay, the force and displacement deviation signals of the master and slave are adopted to control the slave manipulator, and the force feedback adopted the displacement deviation signals of the slave and the master manipulator, this new control strategy is called force symmetry servo bilateral control strategy. This new control strategy enhances the response speed of the master-slave control system, and the force telepresence is efficient. Force reflection servo and force symmetry servo bilateral control strategies are individually tested on the master-slave system to study the tele-operated force feedback bilateral servo control. Through theoretical analysis and experimental tests, it is proved that the master-slave manipulator structure is reasonable, and the force symmetry servo bilateral servo control strategy has satisfied control capabilities.
机译：远程操作包括运动控制和力控制，其关键是远程在场。本文介绍了四自由度远程操作系统的组成，位移和力伺服控制原理。机械手由液压伺服系统驱动。由于通用对称伺服阀的特性，主操纵器无法直接驱动液压缸，因此需要通过控制器获得主操纵器的力信息。此过程影响响应速度。为了改善这种响应延迟，采用了主，从机的力和位移偏差信号来控制从机，并且力反馈采用了从机和主机的位移偏差信号，这种新的控制策略是称为力对称伺服双边控制策略。这种新的控制策略提高了主从控制系统的响应速度，并且强制智真有效。在主从系统上分别测试了力反射伺服和力对称伺服双向控制策略，以研究遥操作力反馈双向伺服控制。通过理论分析和实验测试，证明了主从机械手结构合理，力对称伺服双向伺服控制策略具有满意的控制能力。

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