遥控系统理想性能的实现和实验研究

REALIZATION OF REMOTE SYSTEM IDEAL PERFORMANCE AND THE EXPERIMENTAL RESEARCH

  • 摘要: 本文对主从遥控系统理想性能的实现进行了理论分析和实验研究.对于位置/力控制的遥控机器人,理想性能就是要实现主从操作器的位置跟踪和力跟踪.文中首先通过分析得到了一组控制规律,利用这组控制规律就可以实现理想性能,而且这组控制规律由于引入了力微分信号而比较简便.接着以无源性为基础,对系统的稳定性进行了研究.最后通过实验可知在从操作器同环境有或无作用的情况下,主从遥控系统都可以实现理想性能.

     

    Abstract: This paper makes theoretic analysis and experimental research on the realization of ideal performance of a master-slave remote system. For a position/force controlled telerobot, ideal performance means to realize position track and force track of master-slave manipulators. By analyzing, this paper first presents a control schemes with which the ideal performance of the system can be realized. Because of the force differentiation signal, the schemes are simple. Then based on passivity, the stability of the system is analyzed. The experimental results show that under the conditions in which the slave manipulator interacts or does not interact with the environment, the master-slave remote system can almost realize ideal performance.

     

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