FORCE FEEDBACK MODEL OF ELECTRO-HYDRAULIC SERVO TELE-OPERATION ROBOT BASED ON VELOCITY CONTROL  

作　　者：GONG Mingde ZHAO Dingxuan ZHANG Hongyan JIA Cuiling 

机构地区：[1]College of Mechanical Science and Engineering, JUin University, Changchun 130022,China

出　　处：《Chinese Journal of Mechanical Engineering》2008年第6期1-5,共5页中国机械工程学报（英文版）

基　　金：supported by National Natural Science Foundation of China(No.50475011).

摘　　要：The tele-operation robotic system which consists of an excavator as the construction robot, and two joysticks for operating the robot from a safe place are useful for performing restoration in damaged areas. In order to accomplish a precise task, the operator needs to feel a realistic sense of task force brought about from a feedback force between the fork glove of slave robot and unfamiliar environment. A novel force feedback model is proposed based on velocity control of cylinder to determine environment force acting on fork glove. Namely, the feedback force is formed by the error of displacement of joystick with velocity and driving force of piston, and the gain is calculated by the driving force and threshold of driving force of hydraulic cylinder. Moreover, the variable gain improved algorithm is developed to overcome the defect for grasping soft object. Experimental results for fork glove freedom of robotic system are provided to demonstrate the developed algorithm is available for grasping soft object.The tele-operation robotic system which consists of an excavator as the construction robot, and two joysticks for operating the robot from a safe place are useful for performing restoration in damaged areas. In order to accomplish a precise task, the operator needs to feel a realistic sense of task force brought about from a feedback force between the fork glove of slave robot and unfamiliar environment. A novel force feedback model is proposed based on velocity control of cylinder to determine environment force acting on fork glove. Namely, the feedback force is formed by the error of displacement of joystick with velocity and driving force of piston, and the gain is calculated by the driving force and threshold of driving force of hydraulic cylinder. Moreover, the variable gain improved algorithm is developed to overcome the defect for grasping soft object. Experimental results for fork glove freedom of robotic system are provided to demonstrate the developed algorithm is available for grasping soft object.

关 键 词：Construction robot Tele-operation Bilateral electro-hydraulic servo control Velocity control Force feedback model 

分 类 号：TM921.5[电气工程—电力电子与电力传动]