Master-slave Control of Tele-operated Construction Robot Based on Impedance Identifier

A master-slave control method based on impedance identifier for Tele-operated construction robot was proposed.The load impedance identifier model was built and was used on line to obtain the load impedance by identifying load force and monitoring load deformation.With the load impedance,the control input of the slave actuator of the robot was regulated.According to this method,the master-slave control structures and algorithms called variable-gain position control,position-force combined control,were proposed.The experimental results confirm that they obviously improve the operator's sense to the deformation and stiffness of the load.