Design and Research of Tele-operation Manipulator with Force Feedback

The manipulator with force feedback is a key interface device for a master-slave manipulation system with tele-presence technology. It can provide the operator with the real information of the operating environment. The structure, performance and principle of 6-DOF force feedback manipulator based on Stewart platform are introduced in this paper, and also the force feedback bilateral servo control algorithm. This improved algorithm synthesized displacement symmetry and force feedback control strategy. Slave manipulator adopts displacement servo control, and the force feedback adopts different gain displacement symmetry servo control algorithm. When there is no load on the slave manipulator, force feedback produced by the displacemental error in traditional symmetry type bilateral servo control method is cancelled. The operator can feel the stiffness when the slave grabs different objects. This algorithm is more effective than the traditional bilateral servo control method and combines with symmetry servo control, the slave´s state can be reflected more really.