摘要
针对目前遥操作机器人双向控制策略中所存在的力反馈冲击过大及主、从手间的位置跟随特性差等问题,综合传统的位置对称型和力偏差反馈型控制方法的优点,提出新型的位置差-力差双向遥操作机器人控制策略。通过仿真验证了所设计控制器的有效性。仿真结果表明,所设计的控制器,既解决了力反馈冲击问题,又提高了主、从位置跟随精度,从而提高了遥操作机器人系统的操作性能。
With regard to the overburden impact of feedback force and the poor tracking capability between master and slave hands in the bilateral control strateyy of tele operation robot and combination with the advantages of control methods of traditional symmetric position type and force deviation feedback type,this paper proposes a new bilateral control strategy of position deviation-force deviation of teleoperation robot.Simulation results are demonstrated the validity of the designed controllers which not only solve the impact of feedback force,but also enhance the tracking accuracy between master and slave hands and improve the maneuverability of teleoperation robot system.
出处
《机械制造与自动化》
2012年第2期147-149,共3页
Machine Building & Automation
基金
黑龙江省自然科学基金(E2007-34)
关键词
遥操作机器人
双向控制策略
位置对称型
力偏差反馈型
teleoperation robot
bilateral control strategy
symmetric position type
force deviation feedback type
