摘要
针对目前遥操作机器人双向伺服控制策略中存在的主、从手间位置跟随性差,以及抓取刚性物体时主手所受反馈力冲击过大等问题,提出了一种位置反馈型H∞双向伺服控制算法.同时,采用状态观测器消除操纵杆液压系统动态特性差异及系统的阻尼、摩擦力、惯性阻力等干扰因素.搭建二自由度同构型主从遥操作系统试验台,并进行了现场试验.结果表明,所提出的位置反馈型H∞双向伺服控制策略能有效地改善高刚性操纵杆力觉临场感和主从位置跟随特性,并能很好地解决反馈力瞬间冲击问题,为力觉临场感遥操作机器人走向实用化提供了宝贵经验和关键技术.
With regard to the bidirectional servo control strategy of remote-operational robots,the impacts,e.g.the poor tracking capability between master and slave hands and overburden of feedback force from the master hand while grasping rigid objects,have not been well addressed.Specifically for this study,a position-feedback-type H∞ bidirectional servo control algorithm is first investigated.Meanwhile,the interferences,such as dynamic property differences of operation-lever hydraulic system and system damping,friction and inertia resistance,are eliminated based on a condition monitor.Then,a test-bed for 2-DOF master-slave remote-operational system is established for on-site testing.Finally,it is found from experimental results that the proposed control strategy can effectively improve the force vividness and master-slave track of high-rigid operation-lever and resolve the instant clash of feedback force.Therefore,this approach provides vital experiences and technologies for practicality of remote-operational robots.
出处
《中国工程机械学报》
2010年第2期147-151,共5页
Chinese Journal of Construction Machinery
基金
国家自然科学基金资助项目(50475011)
