The invention provides a hot-line work
robot force feedback master-slave control method and
system based on the
virtual reality technology. The hot-line work
robot force feedback master-slave controlsystem based on the
virtual reality technology comprises a main
manipulator, a mechanical arm and an industrial control computer. During force
feedback control over the main
manipulator, the industrial control computer calculates the torque data of each joint of the main
manipulator according to the stress data of the
tail end of the mechanical arm, and each joint of the main manipulator is controlled to output the torque through a control interface of the main manipulator. The scalar of the stress data of the
tail end of the mechanical arm is six-freedom-degree force / torque data, and the stress data of the
tail end of the mechanical arm are obtained by the industrial control computer through calculation based on the
virtual reality technology according to the tail end
pose data and tailend speed data of the mechanical arm. During
pose control over the mechanical arm, the industrial control computer calculates the expectation value of the
velocity vector of the tail end of the mechanical arm is worked out according to the angle data of each rotation joint of the main manipulator, and through a control interface of the mechanical arm, the mechanical arm is controlled to move according to the expectation value. By the adoption of the hot-line work
robot force feedback master-slave control method and
system based on the virtual reality technology, hot-line work can be accurately, efficiently and safely completed.