Combining the feature of bilateral hydraulic servo control systems, based on the analysis of force telepresence techniques presently used in a construction robot system, a position-force architecture was formed by using a new controller which used a force sensor and a hydraulic motor controlled by an electro hydraulic servo valve to constitute a hydraulic force controller. This replaced the traditional p-p architecture widely used in the construction robot system. The experimental results indicated that the new design improved the transparency of the teleoperation of construction telerobot system with force telepresence.
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冯石柱,赵丁选,尚涛,邓乐.遥操作工程机器人p-f力反馈控制方法[J].农业机械学报,2008,39(2):120-124.[J]. Transactions of the Chinese Society for Agricultural Machinery,2008,39(2):120-124.