| Teleoperation system with master-slave robot for remote control at the corecan be complex manipulated in uncertain or extreme environment (such as space,seabed, radialization, battlefield, etc.). The quality of operation is correlation withthe ability of getting information (such as force, vision, etc.) about the slave side.The dynamic reciprocity between robot and operated object can be felt byteleoperation system on account of the force telepresence and video telepresence,which make the operator accomplish complicated and exact operation. Nowdaysthe research of technology related with telepresence is gaining greater attention.The theory of construction Construction Robot for remote control system withtelepresence is that telerobot working on spot is controlled by an operator withforce feedback manual controller device at safe location. In the telerobot, There arevideo system and sensors used to measure the hardness of the grabbed object andthe resistance. Moreover, the image of on spot is transmitted to the screen in frontof the operator by wireless communication system. In the meantime, the hardnessof the grabbed object and the resistance in working can be judged by the feedbackforce of the master manipulator. Compared with operating with the prompt byimage only, the working efficiency is improved greatly by such working of theprompt of highly telepresence. If used in rescue, this system will take less time.This article systemically discusses the control way of robot with forcefeedback, and we have constructed 1DOF bidirectional hydraumatic servo platformstudying the DOF of project robot claw with hydraumatic servo drive, whosemaster system and slave system individually is composed of a hydraulic cylinder,aelectricity proportion diverter valve and its controller,a displacement transducer,and force transducer on the top of piston rod and adjustable circuit.Aim to the force feedback problem of robot system with hydraumatic servodrive, first, test its control effect using the conventional control way of bidirectionalservo of the force warp, then, based on this way, use arithmetic of concurrent typeand advanced-concurrent type and compare above arithmetic synthetically throughtest, for improving the system reaction speed and control performance. By theresearch of the control system of 1DOF bidirectional hydraumatic servo, actualizemaster-slave control of position and force feedback to test the real time character ofthis control way. Base on the analysis of hydraumatic system chariacter, design thecontroller parameter and PD series-wound emendation controller by software andexperiment.The main achievements of the research are presented as follows:1. Build a 1-DOF teleoperation platform and introduce the research anddevelopment of servo control theory in details. Aiming at the master manipulator inthis system is driven by hydraulic, advance the parallel control algorithm andimprove parallel control algorithm on basis of comparing master-slave forcefeedback experiments in symmetric position servo type, force reflection type andforce reflecting servo type.2. We have designed PD serial correction controller and got the parameters ofcontroller by software Rltool and experiments analyzing the characters of thehydraulic system and got favorable dynamic and static characteristic for hydrauliccylinder.3. Considering strict real-time is required in the master-slave operation robotsystem, design the control software of bidirectional servo control system. The keytechnologies under the Windows system of data transmission, multithread, virtualdevice drive and break off etc. combining with the actual experiment system havebeen introduced in detail. The software VtoolsD3.0 has been used as the tool ofinitialization of the A/D and D/A card and data collection as well as break offsetting. VC++6.0 has been used to achieve multithread, real time data process andcontrol, the bilateral servo control has been achieved.4. The master slave force feedback experiments of the single degree offreedom have been carried out. Under differential conditions (zero load, holdspring and hardwood), the control effects of force wrap type, parallel type andimproved parallel type bilateral servo control algorithms have been compared, andthe validity of the control algorithms have been proved.The proposed parallel improved type control method can provide real forcetelepresence, at same time increase the tracking velocity of the master slave system,and can improve the teleoperation efficiency at a certain extent. The results providepractice and theoretical reference with the teleoperator system, and have theoreticaland practice meaning. |
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