摘要
在分析已有控制方法的基础上,提出了一种新型的控制方法,其主要特点是从手由主从手之间的力偏差信号控制,主手由二者的力偏差和位置偏差控制;建立了系统的动力学模型,并根据二端口网络理论,从理论上研究了新方法在理想透明性能情况下应满足的关系,结果对于力觉临场感遥操作机器人控制器的设计应用具有一定参考价值。
The main function of a teleoperation system is to assist the human operator to perform complex or uncertain tasks in hostile environment. Based on analysis existing methods, a novel control scheme for a bilateral master-slave telerobotics has been proposed in this paper. The main feature of the control scheme is that the slave is controlled by the force deviation between the master and slave, and the master＇s motion is controlled by the force deviation and position deviation between the master and slave, which different from the previous researches. The dynamic model of the system has been proposed. Using two-port network theory, the relationship between the controller parameters and the master-slave system dynamic properties has been achieved, which achieves the transparency theoretically. The results could be used as references when the teleoperation control system being designed.
出处
《机电工程》
CAS
2005年第7期26-29,共4页
Journal of Mechanical & Electrical Engineering
关键词
机器人学
力觉临场感
遥操作
控制方法
robotic
force telepresence transparency
teleoperation system
control scheme
