Performance Experiment of a Hydraulic Force Feedback Teleoperation Robot Based on Position and Rate Control

摘要

A remote control robotic system using bilateral control is useful for performing restoration in damaged areas. The system consists of an excavator as the construction robot, and two joysticks for operating the robot from a safe place. A fork glove is equipped with the front end of the excavator as a hand for grasping task objects. The master and the slave in this system correspond to, respectively, the fork glove and the joysticks controlled by an operator. Two CCD cameras in slave side can carry the spot information to master side and the operator receives the message from two monitors. In such a remote control system, the operator needs to feel a realistic sense of task force brought about from a feedback force of the fork glove. The performance experiments of force feedback model base on position and rate control method are discussed, The performance experiments are carried out to one degree of freedom of fork-glove and include the efficiency of operation and subjective measures. The NASA-TLX is applied to measure the feeling of operators. After compare and analyze the experimental results of two modes with force feedback and without force feedback, that show the proposed force feedback model is validity.