The Force Feedback and Master-Slave Teleoperation Robot for Live Working

In order to solve the problem of rescue and safe operation in power industry, we design the live working robot whose structure and control method are introduced. We design the system solution of the force feedback and master-slave teleoperation robot for live working. Its structure and performance are optimized by kinematics, dynamics and finite element analysis. Besides, we build the kinematics model of the robot. Aiming at the problems of master-slave synchronous operation and force control in working process, teleoperation control method and force feedback control method are designed. Through the force feedback simulation experiment on WEBOTS, we verify that the force feedback control meets the design requirements. The feasibility of the method is verified by semi-physical simulation platform. Finally, experiments are carried out on the force feedback master-slave teleoperation robot, which verifies that the synchronization of the master-slave teleoperation meets the design requirements.