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首页> 外文会议>Youth Academic Annual Conference of Chinese Association of Automation >Sensor-less force esitimation based man-machine interaction optimization
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Sensor-less force esitimation based man-machine interaction optimization

机译：基于传感器的力量阳离子的人机交互优化

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In this paper, a method to improve the operating experience of master manipulator which is used to manipulate the slave manipulator is proposed. The general method to improve performance is compensating the gravity and friction of the manipulator. For the general method, not only the modeling of the gravity but also the identification of friction parameters imports errors. When the manipulator is moved by hand, force is also provided by hand. A long time operation will cause fatigue. The method proposed in this paper utilizes the sensor-less force estimation force control combining with the gravity modeling and friction identification. Then a compliance controller is designed to follow the motion of hand. Operator can move the master manipulator easily.
机译：在本文中，提出了一种改进用于操纵从操纵器的主操纵器的操作体验的方法。提高性能的一般方法补偿了操纵器的重力和摩擦。对于通用方法，不仅是重力的建模，而且摩擦参数的识别导入错误。当手动手动移动时，手也提供了力。长时间的操作会导致疲劳。本文提出的方法利用传感器的力估计力控制与重力建模和摩擦识别相结合。然后，合规控制器旨在遵循手动的动作。操作员可以轻松移动主机械手。

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