| 主-从机器人双向伺服控制方法研究 |
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| 引用本文： | 张祝新.主-从机器人双向伺服控制方法研究[J].长春工程学院学报(自然科学版),2010,11(3):68-72. |
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| 作者姓名： | 张祝新 |
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| 作者单位： | 长春工程学院,工程训练中心,长春,130012 |
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| 基金项目： | 吉林教育厅"十一五"科研项目 |
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| 摘 要： | 设计了液压伺服主、从机器手,并对力觉双向伺服控制算法进行了研究与实验.由于零开口对称伺服阀的结构特点使得主机器手控制力不能直接驱动本身执行器,而需要主机器手控制力信息通过控制器来间接驱动,这一过程必然影响控制系统的响应速度.通过采用主、从机器手的力偏差信号控制从机器手,用主-从机器手的位置偏差信号控制主机器手的力觉反馈.这种新控制策略改变了从机器手跟随主机器手,主机器手感受从机器手力的常规控制模式,提高了主-从控制系统的响应速度,并可根据主机器手对从机器手的跟随来判断从机器手是否出现干涉等,对力感觉机器人双向控制理论研究与实践有一定的借鉴作用.
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| 关 键 词： | 力反馈机器手 电液伺服控制系统 力觉临场感 双向控制策略 |
Master-slave bilateral servo control method of robotic system with force tele-presence |
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| ZHANG Zhu-xin.Master-slave bilateral servo control method of robotic system with force tele-presence[J].Journal of Changchun Institute of Technology(Natural Science Edition),2010,11(3):68-72. |
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| Authors: | ZHANG Zhu-xin |
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| Institution: | ZHANG Zhu-xin(Engineering Training Center,Changchun Institute of Technology,Changchun 130012,China) |
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| Abstract: | This paper designed hydraulic servo master-slave robot and studied force bilateral servo control algorithm.Because of the features of the common symmetry servo valve,the master manipulator can't drive the actors directly and pressure information of the master manipulator is needed to drive the actors through the controller.This process greatly affects the response speed of the control system.The force differential signal of the master and slave is used to control the slave manipulator and the position diffe... |
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| Keywords: | force feedback manipulator electro-hydraulic servo system force tele-presence bilateral control strategy |
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