陈卫东, 席裕庚, 蔡鹤皋. 力觉临场感遥操作系统的双向控制[J]. 机器人, 1998, 20(3): 214-220.
引用本文: 陈卫东, 席裕庚, 蔡鹤皋. 力觉临场感遥操作系统的双向控制[J]. 机器人, 1998, 20(3): 214-220.
CHEN Weidong, XI Yugeng, CAI Hegao. BILATERAL CONTROL OF TELEOPERATION SYSTEM WITH FORCE TELEPRESENCE[J]. ROBOT, 1998, 20(3): 214-220.
Citation: CHEN Weidong, XI Yugeng, CAI Hegao. BILATERAL CONTROL OF TELEOPERATION SYSTEM WITH FORCE TELEPRESENCE[J]. ROBOT, 1998, 20(3): 214-220.

力觉临场感遥操作系统的双向控制

BILATERAL CONTROL OF TELEOPERATION SYSTEM WITH FORCE TELEPRESENCE

  • 摘要: 通过建立一套主从机器人遥操作系统,研究在非确定性环境下借助力觉临场感技术实现遥操作的控制理论和设计方法,在力和运动的双向控制中采用力反射伺服型控制方案,实验表明了该方案的可行性,显示了临场感在增强人机交互能力方面的重要作用.

     

    Abstract: A set of master-slave robot teleoperation system is established for research on design and complementation method of force telepresence control system.A force-reflecting servo control scheme is adopted in the force and motion bilateral control. Teleoparation experiments demonstrate the practicability of this control scheme and provide possibility to improve the man-machine interactivity.

     

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