Force Feedback Bilateral Control of Multi-DOF Cooperative Manipulator: Design and Realization

In this paper, a bilateral teleoperation system for a multi-DOF Cooperative Manipulator with large gear-ratio joints is proposed for. Firstly, low-impedance dragging of the master robot is achieved through admittance control, then, the difference between the operating force of the master robot and the contact force of the slave robot is used as input for the admittance model to provide force feedback, and the perception accuracy of 6-DOF F/T sensor is improved through gravity compensation. Finally, considering the delay of bilateral teleoperation, the interaction stability between the robot and the environment is analyzed.