Study on force-feedback method of tele-operated hydraulic construction robot: Fid-Bau Portal

Study on force-feedback method of tele-operated hydraulic construction robot

Li, Xiao / Yamada, Hironao / Kato, Hidetoshi

This study discusses the force-feedback method of master-slave system of tele-operated hydraulic construction robot. The system is composed of a hydraulic excavator and two joysticks. The hydraulic excavator is served as the construction robot. The joysticks are used to operate the robot in a remote region. A fork-glove to grasp objects is equipped with the front end of the excavator. The master and the slave in this system are the joystick-gear and the fork-glove actuator respectively. To increase the working efficiency, the operator of the master not only require sense the true load force of the object, but also require his force sense synchronizes with the existence of the load. For this purpose, several force-feedback methods were proposed in the previous reports. But, the effect to satisfy the above request was not obtained. The drawback of these methods is the no-load driving force of the slave in algorithm is incorrectly assumed a constant. Aimed at this problem, a new force-feedback method that the no-load dynamics neural network model of the slave is used on-line to identify no-load driving force was proposed in this study. The experimental results based on the new method illustrate that the no-load driving force varies with the motion state of the system actually. By using new method, the reaction force to the master is truly obtained; force sense synchronizes with the existence of the load as well. Compared with previous methods, the accuracy and synchronicity of force-feedback were obviously improved. The experimental results confirmed the usefulness of new method.