Abstract: In the bilateral hydraulic servo control system of a construction telerobot with insitu force sensing, the pf type force feed back architecture is liable to result in an impact on the operator hand, and its high amplitude will cause the control unstable. So, based on the TS type fuzzy reasoning logic, an improved force feedback control strategy with the feedback scaling which could be modified online nonlinearly and continuously was proposed. A RBFPID force controller with adjustable parameters was designed and a new bilateral hydraulie servo control system was developed. Its experimental results showed that the proposed force feedback control strategy improves the tracking precision of the slavehand to the masterhand, makes the masterhand follow well the force acting on the slavehand, reduces the impact of the feedback force, enhances the compliance and transparency of the teleoperation of the construction telerobot system.

Key words: turn and control of fluid, fuzzy feedback scaling, force feedback, construction telerobot