BILATERAL CONTROL OF TELEOPERATION SYSTEM WITH FORCE TELEPRESENCE
CHEN Weidong1, XI Yugeng1, CAI Hegao2
1. Department of Automation, Shanghai Jiao tong University, Shanghai, 200030; 2. Robot Research Institute, Harbin Institute of Technology, Harbin 150001
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. ROBOT, 1998, 20(3): 214-220..
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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