Research On Master-Slave Bilateral Servo Control Strategy Of Tele-Operation Parallel Manipulator

The remote control system with master-slave robot as the core can carry out complex operation in the environment that is difficult for people to access or harmful to people.Only when the position information of the slave robot and the information of the interference force with the environment are accurately fed back to the master end of the operation,and the operator’s decision information is correctly transmitted to the slave end,can the robot be manipulated to complete the precise operation task in the unknown or changing environment.In this paper,the bi-directional servo control strategy is studied with the aim of improving the control accuracy of the tele-manipulation system and reducing the impact and shock generated when the slave meets the sudden force.The research contents of this paper include:In view of the difficulties in solving forward kinematics of most parallel manipulators with rotational degrees of freedom,a 3T(Translation)degree of freedom tele-manipulator without rotational degrees of freedom is built,and its forward and inverse solution equations are derived using the D-H method,and its kinematic performance is studied,and the kinematics and dynamics model of the 3T degree of freedom tele-manipulator is established.Aiming at the problems of position-position difference feedback bidirectional servo control strategy,such as large impact and buffeting caused by reverse movement when the slave meets rigid load,and insufficient forward control accuracy and response speed,the self-locking control and speed control are added to the position-position difference feedback control strategy,and the improved force-velocity bidirectional servo control strategy is proposed.First,the slave manipulator is locked when meeting rigid load through self-locking control,It does not produce reverse displacement,and theoretically solves the problem that the slave hand will produce large impact when encountering rigid load;Secondly,speed control is added to improve forward control accuracy and response speed;The backstepping controller based on force-velocity-position is designed again,and the effectiveness of the proposed bidirectional servo control strategy and the designed controller is verified by the joint simulation of Solid Works and Simulink.The electric control test system of the master and slave isomorphic 3T DOF tele-operated parallel robot is built,and different control strategies are used for the bidirectional servo test research.Using the force velocity improved bidirectional servo control strategy proposed in this article,displacement chattering of the slave manipulator can be eliminated during rigid load testing,reducing the force chattering amplitude of the slave manipulator by 25.8%,and reducing the oscillation time by 83.6%.