孙立宁, 荣伟彬, 刘品宽, 蔡鹤皋. 主从式遥微操作机器人力反馈控制系统的研究[J]. 机器人, 2002, 24(4): 346-351.
引用本文: 孙立宁, 荣伟彬, 刘品宽, 蔡鹤皋. 主从式遥微操作机器人力反馈控制系统的研究[J]. 机器人, 2002, 24(4): 346-351.
SUN Li-ning, RONG Wei-bin, LIU Pin-kuan, CAI He-gao. RESEARCH ON BILATERAL FORCE FEEDBACK CONTROL SYSTEM OF TELE-MICROMANIPULATING ROBOT[J]. ROBOT, 2002, 24(4): 346-351.
Citation: SUN Li-ning, RONG Wei-bin, LIU Pin-kuan, CAI He-gao. RESEARCH ON BILATERAL FORCE FEEDBACK CONTROL SYSTEM OF TELE-MICROMANIPULATING ROBOT[J]. ROBOT, 2002, 24(4): 346-351.

主从式遥微操作机器人力反馈控制系统的研究

RESEARCH ON BILATERAL FORCE FEEDBACK CONTROL SYSTEM OF TELE-MICROMANIPULATING ROBOT

  • 摘要: 本文研制出遥微操作机器人力反馈控制系统,建立了比例缩放条件下系统的二端口网络模型,并对控制系统的稳定性进行了分析,最后进行了实验研究.实验结果表明,在与物体接触时,操作者能够获得持续而稳定的接触力感觉,为进一步的微操作实验研究奠定了基础.

     

    Abstract: A force feedback control system of tele-micromanipulating robot is developed in this paper. The scaled two-port network model is built and the stability of control system is analyzed. Experiments show that the operator can gain durative and stable contacting force perceiving when the micro-manipulator contacts a object. The research lays the foundation for further micromanipulating experiments.

     

/

返回文章
返回