Research on improved force feedback control method for construction telerobot

In construction telerobot system. When p-f architecture force feedback was used, the impact of large feedback force result in the strike-like feeling on the operator´s hand. If the amplitude is high, it will cause the control unstable. So a improved force feedback control method with the feature of a T-S fuzzy feedback coefficient, which could be modified online nonlinearly and continuously, is developed. A RBF-PID force controller is also designed, and formed a bilateral hydraulic servo control system. The experimental results indicate that the new improved control method reduced the impact of the feedback force, enhanced the compliance and transparency of the teleoperation of construction telerobot system.