Bilateral hydraulic servo control system based on force sense for construction robot

Third International Workshop on Advanced Computational Intelligence Pub Date : 2010-09-23 DOI:10.1109/IWACI.2010.5585197

Guang Wen, Hongyan Zhang

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引用次数: 4

Abstract

Aiming to the problem of great feedback force impact existing in the parallel mechanisms force feedback bilateral hydraulic servo control, an improved parallel force feedback control algorithm is presented. It takes the force error between master and slave as the control signal of the master, and takes the position error and the force error as control variable of the slave. The novel hydraulic force servo controller is made up of a force sensor and a hydraulic motor controlled by an electro-hydraulic valve, the improved parallel force feedback bilateral hydraulic servo control experiment system is constructed. The force and position following performance experiments are carried out respectively in the two load condition of no-load and spring load. The experimental results show that the improved parallel force feedback control method can not only ensure the position following precision that the slave follows the master, but also make the master follow the slave force condition accurately, simultaneously improve the master-slave control system maneuverability, make the manipulator feeling real force tele-presence, and increase the transparency of the force feedback.

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基于力感的施工机器人双边液压伺服控制系统

针对并联机构力反馈双边液压伺服控制中存在的反馈力冲击大的问题，提出了一种改进的并联力反馈控制算法。它以主从之间的力误差作为主从的控制信号，以位置误差和力误差作为从的控制变量。该新型液压力伺服控制器由力传感器和电液阀控制的液压马达组成，构建了改进的并联力反馈双边液压伺服控制实验系统。分别在空载和弹簧加载两种载荷条件下进行了力和位置后续性能实验。实验结果表明，改进的并联力反馈控制方法既能保证从机跟随主机的位置跟踪精度，又能使主机准确地跟随从机的受力情况，同时提高了主从控制系统的可操作性，使机械手感受到真实的力的临场存在，并增加了力反馈的透明性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Third International Workshop on Advanced Computational Intelligence

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