Virtual reality-based master-slave control system for construction tele-operation robot

This study deals with a master-slave control system for virtual reality-based tele-operation construction robot, which consists of an construction robot(CR), two joysticks for operating CR from a remote place, and two screens of 3DVisor device display used to present the virtual working field. The force presentation is essential information to the operator in this system, namely, the operator needs to feel a realistic sense of task force came from a feedback force of CR. A velocity control-based force feedback model for hydraulic actuator to determine environment force acts on construction robot by using a self-tuning fuzzy PD controller is presented in this paper. This control algorithm is used by tuning the parameters of the PD controller thereby integrating fuzzy inference and producing a fuzzy adaptive PD controller, which can be used to improve the control performance of nonlinear systems. At last, the experimental results of using velocity control of hydraulic actuators for CR with conventional PID controllers and self-tuning fuzzy PD controllers are both included in this paper.