Master-slave manipulators bilateral control system with force tele-presence

This paper has designed hydraulic servo 6-DOF master-slave manipulators which are based on the structure of Stewart platform and studied force bilateral servo control strategy. Because of the features of the common symmetry servo valve, the master manipulator can´t drive the hydraulic cylinders directly and force information of the master manipulator is needed through the controller. This process affects the response speed of the control system. In order to improve this of response delay, the force and displacement deviation signals of the master and slave are adopted to control the slave manipulator, and the force feedback adopted the displacement deviation signals of the slave and the master manipulator, this new control strategy is called force symmetry servo bilateral control strategy. This new control strategy enhances the response speed of the master-slave control system, and the force tele-presence is efficient. Force reflection servo and force symmetry servo bilateral control strategies are individually tested on the master-slave system to study the tele-operated force feedback bilateral servo control. Through theoretical analysis and experimental tests, it is proved that the master-slave manipulator structure is reasonable, and the force symmetry servo bilateral servo control strategy has satisfied control capabilities.