摘要
为解决常规速度级控制器难以在非理想接触条件下保证电驱动仿生六足机器人速度跟踪能力的问题,提出一种基于加速度模糊控制的六足机器人双边遥操作方法。首先建立主端位置与从端速度的半自主映射方案,在此基础上确定机体加速度与腿部关节驱动量之间的关系式;其次采用模糊控制算法对遥操作系统的控制律进行设计,再利用Llewellyn准则求解控制律参数的稳定范围,并将所跟踪的速度/力信息分别以触觉力的形式反馈给操作者;最后搭建半物理仿真实验平台,实验结果验证了所提方法具有可行性,且遥操作系统的速度跟踪以及力透明度得到了明显提升。
In order to solve the problem that conventional speed-level controller is hard to guarantee the speed tracking capability of hexapod robot,this paper proposes a bilateral teleoperation method based on acceleration fuzzy control.Firstly,a semi-autonomous mapping scheme between the master's position and the slave's velocity is established.Then,the relationship between the acceleration of the body and the drive value of the leg joint is determined.Secondly,a fuzzy PD control algorithm is used to design the control law of teleoperation system.On this basis,for improving the operating performance of the system,the velocity or force information is fed back to the operator in the form of haptic force,after the stability range of these control law parameters is analyzed by Llewellyn criterion.Finally,a semi-physical simulation platform is developed for experiment.Experimental results show that the proposed method is feasible,and the speed-tracking and force transparency of teleoperation system are obviously improved.
作者
尹宏俊
邓楠
程亚迪
YIN Hong-jun;DENG Nan;CHENG Ya-di(China North Vehicle Institute,Beijing 100072,China;School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150000,China)
出处
《计算机科学》
CSCD
北大核心
2022年第S01期714-722,共9页
Computer Science
基金
教育部产学合作协同育人项目(201801209004)。
关键词
双边遥操作
触觉力
模糊控制
加速度控制
六足机器人
Bilateral teleoperation
Haptic force
Fuzzy control
Acceleration control
Hexapod robot
