摘要
通过建立一套３自由度主从式遥控机器人系统研究了力觉临场感技术。在双向力反应控制系统中采用了力反馈－位置型控制方案。力觉保真度及可操纵性实验表明，此控制方案具有可行性，对进一步提高系统性能提供了借鉴。
The research on force telepresence technology has been made through establishing a set of threefreedom master-slave telerobot systems. A force feedback and position control scheme is adopted in thebilateral force response control system. Experiments of force fidelity and manoeuvrability demonstrate thepracticability of this control scheme and provide the possibility to improve the performance of the system.
出处
《高技术通讯》
CAS
CSCD
1996年第12期19-22,共4页
Chinese High Technology Letters
基金
国防预研基金
关键词
机器人
力觉临场感
控制系统
Master- slave telerobot,Force telepressence,Bilateral force response control,Manoeuvrability
