摘要
文章利用游戏杆装置进行了遥操作机器人的力反馈控制。控制的关键是如何正确地描述移动机器人与环境之间的作用力,使之正确地反映给远端的操作者,从而有效地完成控制。本文利用“弹簧-阻尼器”系统模型来描述力,并将其映射到游戏杆上,变成操纵方向的约束力。通过采用微软公司的带有力反馈的操纵杆作为力觉提示装置控制移动机器人小车在非结构化环境下顺利运行,验证了力反馈描述方法的有效性。
The paper teleoperates robot by force feedback control with joystick. It is important how to describe correctly the force between the robot and environment, which is reflected to the operator so that the control is performed effectively. The spring - damper model is used to describe force. Then the force is mapped to the joystick to turn into a limited force of the manipulating direction. The movable robot is controlled to run smoothly under the unknown environment by Microsoft SideWinder Force Feedback Pro. to verify the validity of the force feedfack method.
出处
《微计算机信息》
北大核心
2006年第09Z期219-220,253,共3页
Control & Automation
