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| 基于波变量的力反馈遥操作研究 | |
| 引用本文： | 赵迪,李世其,李明富,朱文革. 基于波变量的力反馈遥操作研究[J]. 华中科技大学学报(自然科学版), 2011, 0(4): 5-9 |
| 作者姓名： | 赵迪 李世其 李明富 朱文革 |
| 作者单位： | 华中科技大学机械科学与工程学院; |
| 基金项目： | 载人航天预研项目(030202) |
| 摘 要： | 设计了一个基于波变量的带力反馈的主从式遥操作系统.引入波变量保证系统在操作过程中的稳定性.以虚拟环境中灵巧手的位姿代替实际力作用方向的位移,用于虚拟力计算;使用事先实验获得的实际材料接触力特性数据进行虚拟力外推.仿真实验结果表明,该方法能给操作者提供连续的力反馈,保证了较高的透明度和刷新率. |
| 关 键 词： | 机器人 遥操作 力反馈 外推法 波变量 时延 |
Teleoperation with force-feedback through wave-variables |
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| Zhao Di Li Shiqi Li Mingfu Zhu Wenge. Teleoperation with force-feedback through wave-variables[J]. JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE, 2011, 0(4): 5-9 | |
| Authors: | Zhao Di Li Shiqi Li Mingfu Zhu Wenge |
| Affiliation: | Zhao Di Li Shiqi Li Mingfu Zhu Wenge(School of Mechanical Science and Engineering,Huazhong University of Science and Technology,Wuhan 430074,China) |
| Abstract: | A wave-variable based teleoperation system with force-feedback was designed in which wave variables were imported to ensure a stable teleoperation.The position and pose of the robot hand were used in VR environment to calculate the virtual force,without using the displacement along the line lock of action of force.Extrapolation method based on contact force data were used to calculate virtual force in VR environment.The contact force data were obtained from the experiments.Simulation results show that this ... |
| Keywords: | robots teleoperation force-feedback extrapolation wave-variable time delay |
| 本文献已被 CNKI 等数据库收录！ | |