Control method for force feedback of electro-hydraulic servo remote control manipulator of multiple degrees of freedom

Abstract

The invention relates to a control method for force feedback of an electro-hydraulic servo remote control manipulator of multiple degrees of freedom, which can be widely used for space exploration, ocean development, application of atomic energy, military field, emergency rescue and the like to do tasks in dangerous or hostile environment instead of people. According to the method, the feedback force is generated by master-slave end joint space angle deviation, the feedback force gain is generated by a multi-dimensional constrained space formed by a jacobi matrix and a space matrix of redundant degree of freedom, and a position space, which is the same as that on the slave side, is formed on the master side, so that a remote control operator can understand operation counter force and force sense which is caused by interference in the position space on the master side. According to the method, the position space constraint which is the same as that on the slave side is established on the master side, so that the operator can know the interference on the slave side through the force, direction and interference degree of freedom to actually have force presence.

Description

technical field [0001] The invention relates to a multi-degree-of-freedom electro-hydraulic servo remote control manipulator force feedback control method, which is widely used in aerospace, marine development, nuclear energy, emergency rescue, medical treatment, virtual reality, game industry and other fields. Background technique [0002] When manipulating the manipulator for remote operation, the operator not only needs to provide visual information, but also needs to understand the reaction force of the operation and the force sense information generated by the interference of obstacles. Control strategy design is a key link in the design of telemanipulation force feedback systems. The force feedback effects and operational performance of telemanipulation systems with the same control structure but different control strategies will be quite different. Aiming at the force-sensing bidirectional servo control system of telemanipulators, various master-slave servo control st...

AI Technical Summary

Problems solved by technology

[0004] (2) Only the magnitude of the feedback force is considered and the direction is ignored, so the controllability of the multi-degree-of-freedom master-slave remote control system is poor

[0005] (3) Only for telemanipulation control systems with the same number of degrees of freedom and dynamic characteristics of the master-slave side system

[0007] (1) The force feedback effect of the master-slave multi-degree-of-freedom system is poor; when the force and displacement are strongly coupled, the operator cannot better grasp the interference and displacement of the slave side

[0008] (2) For the position-force feedback control strategy, the degree of freedom of the interference between the driven side and the obstacle is the degree of freedom of installing the detection force sensor at the non-terminal, so the operator cannot perceive the interference force and the operation fails

[0009] (3) The generality of the force feedback control strategy is not strong, and it cannot meet the needs of a wide range of increasingly diverse master-slave remote control devices

However, this control strategy only considers the magnitude of the feedback force and ignores the direction, and the operator cannot truly obtain the direction information of the interference force on the driven side.

When the operator is manipulating the multi-degree-of-freedom master-slave system, due to the strong coupling of the driven side force and displacement, it is impossible to accurately perceive the interference force and displacement of the driven side, resulting in operation failure

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