基于虚拟现实技术的遥操作机器人的鲁棒性控制策略  

Robust control strategy of telerobot based on virtual reality technology

作　　者：陈俊杰[1] 黄惟一[1] 

机构地区：[1]东南大学仪器科学与工程系,江苏南京210096

出　　处：《控制理论与应用》2006年第5期823-829,共7页Control Theory & Applications

基　　金：国家863高技术资助项目(2002AA742048);中国博士后基金资助项目(2003034368).

摘　　要：为了克服遥操作机器人系统通讯时延,并保证系统稳定性和透明性,在定义了最佳碰撞收敛速度并阐述了其确定方法的基础上,从更适用性意义出发,设计并研究了一套基于虚拟现实技术的遥操作机器人系统控制结构和控制算法,阐述了其系统的实现手段,使系统对几何建模误差和动力学建模误差均具有较强的鲁棒性．实验结果显示了其方法的有效性．In order to overcome the time-delay in telerobot system and guarantee the stability and transparency of the system, optimal velocity of impact convergence is firstly defined and its determination method is clarified. Then based on more applications, the control structure and algorithm of the telerobot system based on virtual reality technology are designed and analysed, and the implementation of the system is also specified, The designed system possesses stronger robustness, being able to tolerate both geometrical modeling error and dynamic modeling error. Experiment results demonstrate the validity of the methods in the paper.

关 键 词：遥操作 虚拟现实技术 控制算法 时延 鲁棒性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]