A new force feedback algorithm for hydraulic teleoperation robot

In the bilateral servo control system of a teleoperation master-slave robot in which both the master and slave manipulators are actuated by hydraulic device, a new force feedback algorithm is proposed for the boom and arm DOF of the slave robot (including the 4 DOF such as swing, boom, arm, and fork glove) based on the improved parallel control method. To acquire accurate interactive force between the robot and the environment, the dynamic forces of the linkages are eliminated as disturbance force. An RBF system identification algorithm is proposed to build a compensation term with the position input of the boom and arm. It is proved by experiment that the algorithm eliminated the disturbance force effectively, which helps the operator to feel the interaction between the robot and the environment.