Position controller based on state observer for 6-DOF parallel teleoperation manipulator

Abstract

The sense system of slave side for electro-hydraulic servo control telerobot is simplification and credibility, which is needed by work environment and test signal remote transfers. The displacement of slave side is only measured signal in this research and designs state observer for restructure velocity and acceleration state variables. Consider the influence of restructure error to position control and random disturbance of slave side, apply lower order output variable to make up of a output linear feedback system, design optimal controller to accomplish master-slave position tracking control and force feedback of bilateral servo control. Simulation and Experimental results are given to demonstrate the developed controller is availability and robustness to existence of outside random disturbance.