Design of the Master-Slave Manipulators System and Research on the Bilateral Control Strategy

This paper has designed hydraulic servo 6-DOF master-slave manipulators which are based on the structure of Stewart platform and study the force bilateral servo control algorithm. Because of the features of the common symmetry servo valve, the master manipulator can't drive the hydraulic cylinders directly and pressure information of the master manipulator is needed through the controller. This process greatly affects the response speed of the control system. 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 signal of the slave and the master manipulator, this new control strategy is called force symmetry bilateral servo control strategy. This new control strategy improves the response speed of the master-slave control system, and the force tele-presence is efficiency. Force reflection servo and force symmetry bilateral servo control strategies are individually tested on the master-slave system to study the tele-operated force feedback bilateral servo control. Through theory analysis and experimental test, it has been proved that the master-slave structure is reasonable, and the force symmetry bilateral servo control method has better control capabilities.