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首页> 外文会议>2013 International Conference on Circuits, Power and Computing Technologies >Virtual torsional spring based bilateral control system for soft manipulation
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Virtual torsional spring based bilateral control system for soft manipulation

机译：基于虚拟扭力弹簧的双边控制系统，用于软操纵

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摘要

In recent years, although there are many researches on bilateral control, there is only little research on improvement of operationality. It will be so effective for operators to improve the operationality of the bilateral control system. In a bilateral control system, the law of action and reaction between master system which the operator manipulates, and the slave system which has contact with the environment is realized. Objective of this research is to eliminate the chattering and to reduce the impact on human operator at contact motion and to introduce controlling force to the slave manipulator to provide more comfort at the human operator's end. In this paper, a new method of improving the operationality which is based on a virtual torsional spring between master and slave system is discussed. Disturbance observer is used as the disturbance compensation tool and also to improve the system robustness. Then proposed method is applied by altering the bilateral control system. Finally the experimental results show the viability of the proposed method.
机译：近年来，尽管关于双边控制的研究很多，但是关于改善操作性的研究却很少。对于运营商而言，改善双边控制系统的可操作性将非常有效。在双边控制系统中，实现了操作员操纵的主系统和与环境接触的从系统之间的作用和反应规律。这项研究的目的是消除振动，并减少接触运动时对操作员的影响，并将控制力引入到从动机械手中，从而为操作员提供更大的舒适度。本文讨论了一种基于主从系统之间虚拟扭转弹簧的提高操作性的新方法。干扰观测器用作干扰补偿工具，也可以提高系统的鲁棒性。然后通过改变双边控制系统来应用所提出的方法。最后，实验结果表明了该方法的可行性。

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