New force feedback algorithm for teleoperation robot
遥操作机器人的新型力反馈算法*

In the bilateral servo control system of a teleoperate robot reconstructed by a hydraulic shaver, proposed a new force feedback algorithm for the boom and arm DOF. Based on the force reflect algorithm, realized force feedback control is realized by the force signal from the slave part. To acquire feedback force which could reflect the interaction between the slave robot and environment, proposed a new force feedback algorithm in which proposed an RBF system identification algorithm with the joint angles as input and the force when the robot was unload as output. With such a method, eliminated the dynamic forces of the robot links as disturbance force. It is proved by experiment that the method to improve force feedback effect by disturbance force compensation is feasible. The algorithm in this paper eliminates the disturbance force effectively, which helps the operator to feel the interaction between the robot and the environment. The force feedback algorithm in this paper has good performance to the force feedback control algorithm for the robot links.