摘要
为了实现良好的力觉临场感系统,在保证系统稳定性的基础上,提高操作透明性是其中的关键。通过对力-位置型力觉临场系统控制结构的透明性分析,提出了一种变增益力-位置型控制结构,通过改变从端的控制增益,来实现良好的透明性。并且还建立了一个单自由度的力觉临场感实验系统进行了实验研究,实验结果表明,这种控制结构在保证系统稳定的基础上实现了良好的控制透明性。
To improve the performance of a force-reflecting teleoperation system, promoting the transparency of the system is very important, with the guarantee of stabilization. Analyzing the transparency of the teleoperation system based on position-force architecture, a gain-switching control scheme is developed. The preferable transparency has achieved through changing the control gain of the slave. A one degree of freedom system for experimental research also is built. Experimental results show that the effectiveness of this method is good.
出处
《测控技术》
CSCD
2006年第2期27-30,共4页
Measurement & Control Technology
基金
国家863资助项目(2002AA742048)
霍英东青年教师基金项目
