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首页> 外文会议>International Conference on Mechanical Engineering and Mechanics vol.1; 20051026-28; Nanjing(CN) >Study on Novel Control Schemes of Telerobotics with Force Telepresence
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Study on Novel Control Schemes of Telerobotics with Force Telepresence

机译：力场临场机器人的新型控制方案研究

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摘要

Teleoperation systems help to overcome barriers which restricting the operator's access to the remote environment and performing remote and/or hazardous tasks by human operators. When the slave manipulator contacts the environment, the interaction force is reflected to the operator to improve the task performance. The previous control schemes, which focus on the slave motion tracking the master motion, major concern the stability and the transparency of the system. This article aims to propose novel control schemes for bilateral master-slave telerobotics with force transparency. Based on analysis of the existing control schemes of teleoperation system, using the force and position information between the master and slave manipulator, four novel control schemes for a bilateral master-slave telerobotics have been proposed in this paper. The main feature of the novel control schemes is that the master-slave manipulator is controlled by the different information combination of the force and position between the master and slave, which different from the previous researches. According to the robot general equations of the telerobotics in Cartesian space, theoretical analyses of the effect factors on the force transparency have been implemented to the master-slave telerobotics. The approximate relationships between structure property and controller parameters which various factors should be satisfied to achieve force transparency have been obtained. The results could be used as references when the master-slave teleoperation control system being researched and developed.
机译：远程操作系统有助于克服阻碍操作员访问远程环境和人工操作员执行远程和/或危险任务的障碍。当从属机械手接触环境时，相互作用力会反映给操作员，以改善任务性能。先前的控制方案集中于从动跟踪主运动，主要涉及系统的稳定性和透明性。本文旨在为具有力透明性的双边主-从远程机器人提出一种新颖的控制方案。在分析现有遥操作系统控制方案的基础上，利用主从机械手之间的力和位置信息，提出了两种新型的双主从遥机器人控制方案。新型控制方案的主要特点是主从操纵器由主从之间不同的力和位置信息组合来控制，这与以前的研究不同。根据笛卡尔空间中机器人机器人的一般方程，对主-从动机器人进行了力透明性影响因素的理论分析。已经获得了结构特性和控制器参数之间的近似关系，必须满足各种因素才能实现力的透明性。研究结果可作为研究开发主从遥控控制系统的参考。

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