基于距离传感器的双边遥操作

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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..

摘要为了改善双边遥操作的力反馈性能，本文根据从端操作臂上的传感器检测的目标距离信息，设计了新的PD双边控制器．证明了系统的稳定性条件，并通过单自由度双边遥操作实验系统，对提出的控制方法进行了实验验证．实验结果表明，当从端操作臂靠近目标时，主端操作臂产生了逐渐增大的反馈力．这种控制策略为操作者安全实现遥操作任务提供了有效手段．

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关键词 ：遥操作, 双边控制, 位置检测

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.

Key words： teleoperation bilateral control position detection

收稿日期: 2010-01-13 录用日期: 2010-07-14

ZTFLH:

TP24

基金资助:国家自然科学基金资助项目（60625304，90716021）；国家973计划资助项目（G2007CB311003，2009CB724002）

通讯作者: 王裕基 E-mail: wangyuji07@mails.tsinghua.edu.cn

作者简介: 王裕基（1979- ），男，博士生.研究领域：遥操作，双边控制．
孙富春（1964- ），男，教授，博士生导师.研究领域：遥操作，神经网络，机器人学．
刘华平（1976- ），男，副教授，硕士生导师.研究领域：模糊控制.

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2010/V32/I6/705

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