Research on Master-Slave Hand Control Method Based on Force/Position Hybrid Feedback

the traditional master-slave control mode realizes position feedback. With the development of multidimensional force sensor technology, the force feedback of master-slave control has become a research hotspot. This paper proposes a master-slave control method based on force/position feedback, and creates a master-slave control model based on force/position feedback. The master-slave control strategy with good dynamic response is studied, and the master-slave cartesian space mapping relationship based on heterogeneous systems is set to realize the servo control of the force/position hybrid feedback in the active system, so that the operator has more realism on-the-spot operation. In addition, the master-slave safety operation countermeasures are analyzed to ensure the safety and reliability of the system. Finally, the following performance experiment of master-slave operation proves the effectiveness of the master-slave control method based on force/position feedback.