WANG Yuji, SUN Fuchun, LIU Huaping, LI Yongming, MIN Haibo
Tsinghua National Laboratory for Information Science and Technology, State Key Laboratory of Intelligent Technology and Systems, Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China
王裕基, 孙富春, 刘华平, 李永明, 闵海波. 基于距离传感器的双边遥操作[J]. 机器人, 2010, 32(6): 705-710..
WANG Yuji, SUN Fuchun, LIU Huaping, LI Yongming, MIN Haibo. Bilateral Teleoperation Based on Range Sensor. ROBOT, 2010, 32(6): 705-710..
Abstract:In order to improve the performance of the force feedback in bilateral teleoperation,a novel PD(proportion differential) bilateral controller is designed based on the distance information detected by a range sensor on the slave manipulator. Furthermore,the condition of the system stability is proved,and the control method is validated on a single degree of freedom blateral teleoperation experiment platform.The results show that the incremental force feedback from the master manipulator can be obtained when the slave manipulator moves close to the object.This control strategy is an effective method for the operator to securely accomplish the teleoperation mission.
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