| Teleoperation system with master-slave robot at the core can be complex manipulated in uncertain or extreme environment (such as space, seabed, radialization, battlefield, etc.). The quality of the operation is correlated with the ability of getting information (such as force, vision, etc.) about the slave side. The dynamic reciprocity between robot and operated object can be felt by teleoperation system on account of the force telepresence and vision telepresence, which can make the operator accomplish complicated and exact operation. Nowdays,the research of technology related with telepresence is gaining more and more attention.Vision telepresence can provide most information for teleoperation, it is of great help for the human operators'cognition the environment being operated.When the robot is contacted with the environment and only has vision telepresence system, operators cannot acquire the real sense. Only with the guidance of force telepresence can operators accomplish these complex tasks well.Experiments on teleoperation systems also indicate that force and tangency senses can greatly enhance the efficiency and the accuracy of teleoperation systems. Thus it can be seen, force telepresence can provide great help for teleoperation systems, and it can greatly enhance manipulation performance.In this paper, combines with the Ministry of Education excellent youth teacher fund " Research on long-distance manipulate engineering robot with force feedback " item. We have set up a telerobot system hydraulic droved with force feedback which is called two-DOF bilateral servo system after analyzing the telerobot systems with telepresence, especially those with force telepresence in home and abroad. In consideration of the position follows bad, force feed back exist concussion, optimizemaster-slave systemic work module and other problems, Designed and applied a new type force feed back master manipulator and designed a nerve cell adapt intelligence PID controller. Take the force deviation feedback type, new double toward servocontrol type and improvement new pattern as guidance accomplished experimental study.Combined the research of theory and experiments, we have accomplished the main research tasks as follows:1. First set up a two-DOF telerobot system with force feedback based electron hydraulic servo control system in China .Characteristics are teleoperation, high precision position control, force telepresence.This system has a good sense for set up and study more complicated telerobot system.besides, this system make it easy to make experiment for bilateral servo theory.2. Designed and applied a new type force feed back master manipulator,which is drived by oil hydraulic, has good character,better performance in force feed back.The master manipulator has better structure,less inertia,more all-purpose and free control.it has a better future in engineering application, which can be better satisfy the long distance teleoperation task with force feedback. So its appliance will have a broad prospect.3. Built up the mathematics model of the electricity liquid servo system, Analyze and solved the electricity liquid servo-valve, the liquid presses motor and servo-valve's function in detail, Take Matlab R2006a as a tool, analyzes the open loop transfer function responds dynamic state characteristic, provided reference mathematics model for Master-Slave operate system and provided principle for designing controller.4. Designed intelligence controller for both the master side and slave side of the two DOF electricity liquid servo system. Considering normal PID regulations has no good performance at non-lineartime, time changing system, or the parameter unknown or slow-changing variety system, or has time postpone or random interference of the complicated liquid press servo system, normal PID cannot do a precision control. To solve this problem, this paper designed a nerve cell adapt intelligence PID controller which is based control standpoint. Introduced the principleand subordinate of master-slave bilateral servocontrol operate with force feedback in details. Analyzed and introduced the characteristics of position symmetry type, force directly feedback type, force deviation feedback type and force position bilateral servocontrol type calculate way. In addition, improvement new pattern is put forward. Take Matlab as tool, design controller parameter, and carry on system dummy experimentation. Experiment proved nerve cell adapt intelligence PID controller has a better performance than normal PID controller .5. Take master and slave tele-robot system timing control request into account, take VC ++ 6.0 as a developing tool, finished software design for the bilateral servo system. Discussed how to carry out a multi-threading, break off constitution and data acquisition under the operate system of Windows XP. Completed solid hour data processing, intelligence data output control etc. Carry out the principle and subordinate of master-slave bilateral servocontrol operate with force feedback.6. Take the force deviation feedback type, new double toward servocontrol type and improvement new pattern as guidance accomplished the experimentation both under no pressure and add pressure conditions. Analyzed and compared these kinds of control strategies'control result characteristics respectively. Verified the usefulness and superiority of the improvement new pattern bilateral servo control calculate way. Obtained good experiment result. Verified the applied improvement new bilateral servocontrol calculate way is one kind of reasonable and feasible master and servant control method. Verified the credibility of the two freedom degrees double press servocontrol system build by this paper.The researches in this paper are aimed to electron hydraulic servo telerobot system with force feedback, which uses the improvement new bilateral servo control strategy. With this new bilateral servo strategy applied in master-slave robot systems and high prompts by force telepresence, which can make human operators perceive veritably the dynamic reciprocity between the robots and environment, telerobot systems can accomplish complex tasks under inaccessible environment. The intelligence controller can conquer disturbance at affect a certain extent. The researches on control strategy and experimentations in this paper provide experience and key technology for teleorobot systems'utilities, and as a result they will greatlyenhance work efficiency in teleoperations. |
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