Bilateral control scheme of master-slave telerobotic system with telepresence

被引：0

作者：

Deng, Le ^{[1
,2
]}

Zhao, Ding-Xuan ^{[2
]}

Ni, Tao ^{[2
]}

Wen, Guang ^{[2
]}

Tang, Xin-Xing ^{[2
]}

机构：

[1] College of Mechanical and Power Engineering, Henan Polytechnic University, Jiaozuo 454000, China

[2] College of Mechanical Science and Engineering, Jilin University, Changchun 130022, China

来源：

Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) | 2006年 / 36卷 / 05期

关键词：

Feedback control - Force control - Position control - Tracking (position) - Vibrations (mechanical);

D O I：

暂无

中图分类号：

学科分类号：

摘要：

To realize the transparency of bilateral control scheme of the master-slave telerobotic system, a test system of one degree of freedom master-slave telerobotic system with telepresence was built up by applying two electro-hydraulic proportional valves to control the hydraulic cylinder. Three control schemes, i.e. force feedback servo type, parallel type and improved parallel type were suggested in the bilateral control of force and motion. The experiments on the position tracking and the position tracking behaviors were conducted under conditions of no load, elastic load with small stiffness as well as hard load with large stiffness respectively. Results show that there are time delay of the motion tracking as well as force vibration in the main hand for the force feedback and parallel control schemes and the improved parallel control scheme, comparing with the others, is characterized by good transparency under both the elastic and hard load conditions.

引用

页码：681 / 685

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