中文摘要：

结合液压主、从遥操作工程机器人的特殊性,在分析已有控制方法的基础上,应用阀控液压马达和力传感器构成新型液压力伺服控制器,形成p-f结构主动力反馈双向伺服控制系统。代替以位置误差、位置误差的变化率或其组合形成的p-p型被动力反馈控制结构,在工程机器人双向伺服控制系统中应用主动力反馈结构。在空载和弹簧负载情况下,分别进行了力、位置跟随性能实验,实验结果表明,p-f型力反馈控制方法既能保证从手对主手的位置跟随精度,又能使主手准确连续地跟随从手受力情况,改进了遥操作工程机器人力反馈的性能,提高了力反馈透明度。

英文摘要：

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.