基于AR模型的预测算法在力觉临场感遥控机器人系统中的应用  

Application of the Prediction Algorithm Based on AR Model to Force Telepresent Telerobot System

作　　者：王亦红[1] 黄惟一[1] 宋爱国[1] 

机构地区：[1]东南大学仪器科学与工程系,南京210018

出　　处：《传感技术学报》2002年第2期112-115,共4页Chinese Journal of Sensors and Actuators

基　　金：教育部博士点基金资助项目 ;教育部骨干老师计划资助项目

摘　　要：为解决力觉临场感遥控机器人系统的时延问题 ,本论文提出了将预测器引入该系统的新思路 .该预测器是基于AR模型对从手与环境间的作用力进行预测的 .本论文模拟了具有预测器的单自由度力觉临场感遥控机器人系统 ,并对该预测器的算法进行了仿真研究 .在时延条件下 。In order to resolve the problem of the communication time delay in force telepresent telerobot system, a new idea based on AR (Auto Regressive) model is presented in this paper. A kind of prediction algorithm based on AR model is applied to force teleresent teleopreation system. A single freedom force telepresent telerobot system is simulated in this paper. On its basis, the simulation to versify this idea is performed. The result shows that the remote slave manipulator is correctly controlled with this idea under the condition of communication time delay.

关 键 词：遥控机器人 力觉临场感 时延 预测 AR 

分 类 号：TP212.6[自动化与计算机技术—检测技术与自动化装置]