Abstract: A novel gainswitching force feedback algorithm was proposed based on the common force reflect algorithm to make the masterend force truly reflect the force acting on the end actuator forkglove of the slave robot in the bidirectional force feedback servosystem of the masterslave system of the teleoperation engineering robot. A mathematical model for the relationship between the displacement and the driving force of the robot forkglove cylinder was built based on the kinematics of the forkglove to adjust the force feedback control gain of the masterend. The proposed gainswitching algorithm was compared experimentally with the common force refleet algorithm. It was proved that the novel algorithm accurately reflects the effects of the inertia force and the damp force of the robot forkglove during its motion process under the prerequisite for system stability, the operator can sense more truly the variation of the force acting on the staveend of the robot, which helps to improve the working capability of the teleoperation system.

Key words: turn and control of fluid, force feedback, masterslave control, gainswitching, system identification