PD Control Arithmetic of Novel Force Sense Bilateral Hydraulic Servo System
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Abstract:
The force feedback technology is a new kind of tele-operated robot,and it is of broad practical foreground to study in this aspect.In A novel force feedback bilateral servo system is presented through studying and analyzing traditional force feedbck control systems in this field,which regards the difference between the master's manipulative force and the master's resistance as command signal,simultaneity,the difference between the slave's displacement and the master's displacement is fed back for driving movement of the slave.The arithmetic takes on control briefness,constringency rate rapidness,real-time well,and improves dynamic characteristic of system.
