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.
1 蒋新松.机器人学导论.沈阳:辽宁科学技术出版社,1993 2 Edwin P K,Edmund A.The JPL Telerobot Teleoperation System.International Journal of Robotics and Automation,1990,5(1):27~31 3 Masao Inoue et al.Six-axis Bilateral Control of an Articulated Slave Manipu lator Using a Cartesian Master Manipulator.Advanced Robotics,1990,4(2):139~150 4 Hirzinger G.A Sensor-based Telerobotic System for the Space Robot Experiment ROTEX.北京国际高级机器人学讨论会文集,1991:39~59 5 陈卫东.具有力觉临场感的主从遥控机器人系统.哈尔滨工业大学博士学位论文,1996