摘要
主要介绍了一套单自由度主从式力觉临场感遥操作的实验平台,该实验平台具有操作简单和直观的特点,操作者可两手同时接触主端和从端的操作器,通过控制主手运动,使从手跟踪其运动,并且能够同时正面地感受到主从两端操作器的力反馈情况。文中对硬件和软件方面的设计分别进行了分析,最后针对某一算法进行有时延和无时延的力觉临场感实验,并进行研究。该套实验系统的设计目的是为了进行遥操作中双向控制算法的研究,实验结果表明该套实验系统能够有效地实现控制算法,从而证明其有效性。
An one - degree - of - freedom experimental system of master - slave telemanipulator with force telepresence is developed ,which can be operated and be felt easily . Operator can keep in touch with both the master and slaver with his hands in the same time, when he makes the master move ,the slave will follow the master. So we also can learn how to drive the two manipulators. The designs of the software and hardware are analyzed respectively and the force telepresence experiments with or without time - delay are carried out. The experimental results illustrate that the experiment system can realizes the control algorithm effectively.
出处
《计算机仿真》
CSCD
2005年第12期52-56,共5页
Computer Simulation
关键词
遥操作
双向控制
实验系统
Teleoperation
Bilateral control
Experimental system
