Isomorphic Tele-Robotic Experimental System Design

Isomorphic master-slave tele-robotic experimental system is established by employing self-developed six degrees of freedom force feedback manipulators. The components of the experimental system, design and function of the parts and bilateral maser-slave tele-operating program flow chart are detailed. Bilateral servo tele-operation control strategy is based on position deviation of the master and the slave. The master is driven by the position deviation which can effectively reduce the feedback force impact on the master; and the slave is driven by the master-slave force deviation which can greatly improve the system response. The experimental results show that the performances of the established system can meet the basic requirements of the tele-operation, moreover, it is also a theory research and practice references to the force tele-presence and bilateral control strategy.