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| RESEARCH ON BILATERAL FORCE FEEDBACK CONTROL SYSTEM OF TELE-MICROMANIPULATING ROBOT |
| SUN Li-ning, RONG Wei-bin, LIU Pin-kuan, CAI He-gao |
| Robot Research Institute, Harbin Institute of Technology, Harbin, 150001 |
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Abstract A force feedback control system of tele-micromanipulating robot is developed in this paper. The scaled two-port network model is built and the stability of control system is analyzed. Experiments show that the operator can gain durative and stable contacting force perceiving when the micro-manipulator contacts a object. The research lays the foundation for further micromanipulating experiments.
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Received: 31 October 2001
Published: 15 July 2002
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