| 力觉反馈的电液位置伺服控制系统研究 |
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| 引用本文： | 巩明德,赵丁选,段秀兵.力觉反馈的电液位置伺服控制系统研究[J].农业机械学报,2003,34(1):104-107. |
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| 作者姓名： | 巩明德 赵丁选 段秀兵 |
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| 作者单位： | 1. 吉林大学机械科学与工程学院
2. 天津大学机械学院 |
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| 摘 要： | 通过对力觉临场感主从机械手分析，借鉴电随动主从随动控制系统的研究方法，结合液压主从操纵机器人的特殊性，综合考虑了对称型和力直接反馈型双向伺服控制系统的特点，提出了力-位置综合型双向伺服控制算法，以位置误差和位置误差的变化率形成力反馈控制量，以从端受力反馈控制量的增益，实验结果验证了新方法的有效性。
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| 关 键 词： | 自动控制技术 机器人 电液伺服系统 动态控制 |
| 修稿时间： | 2001年10月24 |
Research of Electro-hydraulic Position Servo with Force-feedback |
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| Gong Mingde,Zhao Dingxuan.Research of Electro-hydraulic Position Servo with Force-feedback[J].Transactions of the Chinese Society of Agricultural Machinery,2003,34(1):104-107. |
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| Authors: | Gong Mingde Zhao Dingxuan |
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| Institution: | Gong Mingde Zhao Dingxuan(Jilin University) Duan Xiubing(Tianjin University) |
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| Abstract: | In this paper the master slave manipulator with force telepresence and the particulatity of master slave hydraulic robot were analysed. A force position servo control algorism was presented by referring to the research method of master slave electromotor control system and synthetically considering symmetric position and force reflection bilateral servo control. Force feedback signal is generated by position errors and its differential, and the gain of force feedback signal is formulated by slave force. The simulation results prove that the new algorism is efficient. |
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| Keywords: | Automatic control technology Robot Electro hydraulic servo systems Dynamic control |
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