Heterogeneous-Type Force Tele-Presence Tele-Operation System Control Strategy

2-DOF hydraulic servo joystick with force feedback is employed as the master of the heterogeneous master-slave tele-operation system and the 4-DOF series hydraulic servo manipulator is employed as the slave. The concept of whole information control of positions and forces is proposed which is a powerful means of making deep study on master-slave tele-operation system. With the aid of whole information control architecture, combined with the advantages of force reflection servo type of control algorithm, this paper presents a symmetrical force bilateral control strategy which effectively improved the system response speed. Three tele-operation experiments under different conditions of no-load, clawing tire and clawing stone are performed. Experimental results prove that the symmetric force bilateral servo control method has good control effect and it is a valuable reference to the force tele-presence study.