基于遗传算法的力觉临场感系统环境阻抗参数估计研究  

RESEARCH ON ESTIMATION OF ENVIRONMENT IMPEDANCE PARAMETERS OF FORCE TELEPRESENCE SYSTEM BASED ON GENETIC ALGORITHMS

作　　者：曾庆军[1] 宋爱国[2] 黄惟一[2] 

机构地区：[1]华东船舶工业学院电子与信息系,镇江212003 [2]东南大学仪器科学与工程系,南京210018

出　　处：《模式识别与人工智能》1999年第2期217-222,共6页Pattern Recognition and Artificial Intelligence

基　　金：国家自然科学基金;国家863高技术资助

摘　　要：力觉临场感遥控作业系统在实际中经常工作在未知环境中,而环境的建模对于提高力觉临场感系统的透明性,特别是通讯时延存在时系统的透明性非常重要。目前在研究中普遍采用的是环境的阻抗模型,针对未知环境必须估计出环境阻抗模型的参数。遗传算法是近年来迅速发展起来的一种新的全局优化搜索算法。本文针对环境的阻抗模型,提出了一种基于遗传算法的环境阻抗参数估计方法,可以快速有效地估计出环境阻抗参数。实验结果表明了该方法的有效性。In practical application, force telepresence system is often used in unknown environment, so the modeling of environment is very important for improving the transparency of system, especially when communication time delay existing. The impedance model of environment is generally used at present, so the parameters of unknown environment impedance model must be estimated. Genetic Algorithms(GA) developped greatly in last years is a global optimization search algorithm that emulates natural selection and natural genetic mechanics. In this paper, a method for estimating environment impedance parameters based on GA is proposed, which can estimate the parameters of environment impedance model on-line. The experimental result indicates the effectiveness of this method.

关 键 词：遗传算法 环境阻抗参数 学力临场感系统 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]