Bilateral hydraulic servo control system based on force sense for construction robot

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 servo controller is made up of a force sensor and a hydraulic motor controlled by an electro-hydraulic valve, the improved parallel force feedback bilateral hydraulic servo control experiment system is constructed. The force and position following performance experiments are carried out respectively in the two load condition of no-load and spring load. The experimental results show that the improved parallel force feedback control method can not only ensure the position following precision that the slave follows the master, but also make the master follow the slave force condition accurately, simultaneously improve the master-slave control system maneuverability, make the manipulator feeling real force tele-presence, and increase the transparency of the force feedback.