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Tele-operation consists of movement control and force control, of which the key is tele-presence. This paper presents the components of the 4-DOF tele-operation system, displacement and force servo control principle. The manipulators are driven by hydraulic servo system. Because of the features of the common symmetry servo valve, the master manipulator can't drive the hydraulic cylinders directly...
In order to investigate the ineluctability problem of communication time delay in force tele-presence of the tele-operation robot system, a tele-presence system based on the virtual reality is setup in this paper. The system structure, geometrical noumenon model, and man-machine interface are introduced in detail. In the tele-operation system, graphical robot technology is used to solve the time delay...
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...
Aiming at the problem of great feedback force impact existing in the parallel mechanisms force feedback bilateral hydraulic servo control, an improved parallel force feedback control algorithm is presented. It takes the force error between master and slave as the control signal of the master, and takes the position error and the force error as control variable of the slave. The novel hydraulic force...
In construction telerobot system. When p-f architecture force feedback was used, the impact of large feedback force result in the strike-like feeling on the operator's hand. If the amplitude is high, it will cause the control unstable. So a improved force feedback control method with the feature of a T-S fuzzy feedback coefficient, which could be modified online nonlinearly and continuously, is developed...
Aiming to the problem of great feedback force impact existing in the parallel mechanisms force feedback bilateral hydraulic servo control, an improved parallel force feedback control algorithm is presented. It takes the force error between master and slave as the control signal of the master, and takes the position error and the force error as control variable of the slave. The novel hydraulic force...
Tele-operation consists of movement control and Force control, of which the key is tele-presence. This paper presents the components of the 4-IJOF tele-operation system, displacement and force servo control principle. The manipulators are driven by hydraulic servo system. Because of the features of the common symmetry servo valve, the master manipulator can't drive the hydraulic cylinders directly...
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