For improving efficiency problem in coal ash test

a one-degree-of-freedom control system of master-slave gathering grey tool with force telepresence and sense telepresence is developed

and its low-cost implementation method is introduced.The master controlled by an operator is equipped with a DC torque motor and the scaled down slave gathering grey tool which executes real tasks in the environment is driven by a hydraulic servo system.Based on a two-channel position-force control architecture

integral separation PID control is used about force feedback.In order to show the validity and feasibility of the designed architecture

example is introduced and analyzed.