Research on Bilateral Servo Control Strategy for the 3T Redundant Freedom Parallel Robot

Abstract

AbstractIn this paper, a force feedback position bilateral servo control strategy with position difference compensation for a 3T redundant degree of freedom parallel robot is proposed. We have designed master and slave controllers based on fuzzy control, and conducted single motor bilateral servo control experiments and single branch bilateral servo control experiments on the experimental platform. The experimental results show that this method can effectively reduce the error accumulation caused by using non redundant inverse kinematics methods to solve redundant parallel robots, and maintain good position following performance of the master slave robot, Improved the transparency of force displacement control in the master–slave remote control robot system.