Abstract
Tele-operated bilateral hydraulic servo system with master-slave robot at the core can be complex manipulated in uncertain or extreme environment (such as space, seabed, radialization, battlefield, etc.). In this paper, it mainly researches control a force feedback bilateral master-slave servo system which is composed of electro-hydraulic servo system. In a tele-operated master-slave system, the master plays as a reference input device to the slave as well as a force feedback device. In order to feel a force fed back from the slave by the operator, a problem called back-drivability must be solved which an actuator in a hydraulic servo-system cannot be operated freely by manual means. As a practical solution to this problem, a driving method of actuator is proposed that a force sensor is used to attach the actuator. Furthermore, as an application of the sense of force proposed, a bilateral master-slave system is constructed which is composed of electro-hydraulic control system. Experimental results are given and shown that the “sense of force” can be fed by operator sensitively.
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