力觉临场感机器人基于在线修正虚拟模型的远程控制  

Force-reflecting teleoperation of robot based on on-line correction of virtual model

作　　者：刘威[1] 宋爱国[1] 李会军[1] 

机构地区：[1]东南大学仪器科学与工程系,南京210096

出　　处：《东南大学学报（自然科学版）》2006年第2期242-246,共5页Journal of Southeast University：Natural Science Edition

基　　金：国家高技术研究发展计划(863计划)资助项目(2002AA742048);国家自然科学基金资助项目(60475034);霍英东青年教师基金资助项目

摘　　要：虚拟建模技术是克服遥操作时延问题的有力手段,但是这种方式依赖于虚拟模型建立的精度.为了获得准确的虚拟模型,提出了一种在线修正虚拟模型的方法,通过对虚拟模型几何误差和动力学误差的在线修正,从而获得准确的交互信息.首先采用图形图像的叠加及远地位置和力信息的融合技术来修正远地环境的几何模型,同时采用滑动平均最小二乘法(SALS)来实时辨识远地工作环境的质量、阻尼和刚度,建立和修正远地环境的动力学模型.实验结果表明,通过以上方法在线修正的远地虚拟环境模型可以有效地消除时延带来的影响,提高系统的可操作性.Virtual reality is an effective method to eliminate the influence of time-delay. Although this method can solve the time delay problem, it depends on the precision of the virtual model. In this article a method is brought forward that corrects the virtual model on-line to establish a more precise model. The geometric errors of the virtual model are amended on-line by overlapping the graphics over the images and also by syncretizing the position and force information from the remote. The sliding average least square （SALS） method is adopted to make out the mass, damp and stiffness of the remote environment and amend the dynamic model of the environment. Experimental results demonstrate that the on-line correct method proposed can effectually reduce the impact caused by time delay, and improve the operational performance of the teleoperation system.

关 键 词：力觉临场感 遥操作 时延 虚拟建模 在线修正 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]