中文摘要：

在主手为液压力反馈手柄而从手采用液压缸位置伺服装置驱动的力觉双向伺服系统中,为解决从手与刚性物体接触时产生的震荡问题,提出策略切换控制算法。针对柔性负载,采用包含主从手力及位移的四通道式从端驱动型策略,使用主从手力之差驱动从手,再以主手跟随从手位移;在刚性负载下,为避免从手力突变影响位置环而产生震荡,采用不包含从手力的三通道策略;根据从手负载力和速度设计判断指标,控制两种策略的切换。通过刚柔性两种物体的抓取实验证明该策略对刚柔性物体均有良好的力反馈控制效果,并避免了原有的从端力驱动型策略在抓取刚性物体时产生的震荡问题。

英文摘要：

The research object is a force bilateral servo system in which the master side is a hydraulic manipulator and the slave side is a hydraulic cylinder actuated robot.Facing the concussion problem occurred when the slave hand contact rigidity object,a strategy-switching algorithm was proposed.A four-channel slave driving strategy was used to the flexible load and a three-channel strategy without slave force was used to the rigidity load.The switch was judged by the ratio of slave force and velocity.It is proved by the experiments that the strategy is valid and the concussion problem of the former strategy when catching rigidity object could be avoided.