Position-velocity based force feedback scheme of master-slave hydraulic servo control system

A bilateral hydraulic servo control system is build for teleportation force feedback. The bilateral servo system is a master-slave system in which the hydraulic force feedback joysticks works as the master part. The system control scheme is based on the control character, and a position-velocity force feedback scheme which shows good transparency on the condition of soft and unloaded is proposed by analysing the impedance of the system. An experiment in a master-slave system in which the master part and slave part is of the same structure is completed to test the invalidation of the scheme. The result shows that the scheme is of good performance and can be used in the force feedback control of manifold hydraulic systems.