面向柔性环境的主从双向控制系统

依据手与环境交互模式的特点,对柔性环境下的主从双向控制进行了研究。通过对任务环境特点的分析,明确系统中各个变量之间的因果关系。结合对操作者的智能和协调能力的考虑,给出包括操作者和环境在内的整个系统的因果关系。提出一种基于扰动观测器和低通滤波器的F-P双通道控制方案,探讨该方案的稳定性和透明性,并进行仿真分析和实验。结果表明:速度跟随相对误差为1.15%,力反馈相对误差为5.00%。该方案能够实现较好的速度和力跟踪效果。

Research on bilateral master-slave control scheme directed at flexible environment

This paper presents a novel F-P two-channel control scheme based on disturbance observer and low-pass filter. This scheme follows from studying the bilateral master-slave control under flexible en- vironment in response to the characteristics of the interaction mode between the slave and environment; analyzing the features of task environment and thereby defining the causality relationship of all the varia- bles; and ultimately establishing the causal relationship of the whole system, including that between an operator and environment, as dictated by the due consideration of the intelligence and motion coordination of the operator. The paper goes further by validating the system stability and transparency using simula- tion analysis and experiment. Results suggest that with the relative error of 1.15% and 5.00% respec- tively for speed tracking and force feedback tracking, the scheme could potentially perform with a better speed and force tracking effect.