Tele-manipulating robot force feedback control system and control method thereof

Abstract

The invention relates to a tele-manipulating robot force feedback control system and a control method thereof. The tele-manipulating robot force feedback control system comprises a location comparator (1), a slave controller (2), a slave robot (3), a load (4), a no-load driving force regression model (5), a force comparator (6), a master controller (7) and a master robot (8), wherein the location comparator (1) outputs a master-slave position error signal to the slave controller (2) which outputs controlling quantity so as to control the slave robot (3) to drive the load (4) after control computing, the no-load driving force regression model (5) identifies no-load driving force on line, the force comparator (6) transmits a force difference signal of the force of the load (4) and the no-load driving force output by the no-load driving force regression model (5) to the master controller (7), the master controller (7) outputs the controlling quantity to the master robot (8), and the master robot (8) generates force feedback acting on an operator. The tele-manipulating robot force feedback control system and the control method thereof can indirectly extract loading force of a tele-manipulating robot system, and accurate and real-time force feedback is realized. Besides, the control method is simple and convenient.

Description

technical field [0001] The invention relates to a force feedback control system and a control method for a teleoperated robot, in particular to a force feedback control system and a control method for a teleoperated robot based on a no-load driving force regression model applied in the field of robot control, and belongs to the force feedback control system and control method for a teleoperated robot. Transformation technology of feedback control system and control method. Background technique [0002] Research on intelligent robots in the 1980s showed that due to the limitations of mechanism, control, artificial intelligence and sensing technology, it is still difficult to develop fully autonomous intelligent robots that can work in unknown or complex environments in a short period of time. However, with the development of space exploration (repair of satellites, maintenance of space stations, exploration of planets such as the moon and Mars), marine development (survey of ...

AI Technical Summary

Problems solved by technology

[0002] The research on intelligent robots in the 1980s showed that due to the limitations of mechanism, control, artificial intelligence and sensing technology, it is still difficult to develop fully autonomous intelligent robots that can work in unknown or complex environments in a short period of time.

However, the sensor is easy to wear, and the detection accuracy will be reduced due to the influence of on-site environmental factors

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