Master-slave control strategy of tele-manipulator

For the structural features of the zero-opening servo valve, the master manipulator can´t drive itself actuators directly, it can only be driven by the information through the controller indirectly. This process will inevitably affect the response speed of the control system. Force differential between the master and the slave is used as the master´s control signal, and the position differential and force differential are used as the slave´s control signal to realize the force tele-presence. The new control structure is different from the traditional mode that the slave follows the master´s movement and the master feels the force from the slave. According to the master´s tracking the slave to determine whether there is interference in the slave. By using PID parameter itself-adjusting fuzzy control method as the control algorithm, the response speed of the mater-slave control system is improved. Comparative experiments show that the new control structure and control algorithm can be a reference to the theory research and practice on the bilateral control with force feeling.