基于波变量的力反馈遥操作研究  

Teleoperation with force-feedback through wave-variables

作　　者：赵迪[1] 李世其[1] 李明富[1] 朱文革[1] 

机构地区：[1]华中科技大学机械科学与工程学院,湖北武汉430074

出　　处：《华中科技大学学报（自然科学版）》2011年第4期5-9,共5页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：载人航天预研项目(030202)

摘　　要：设计了一个基于波变量的带力反馈的主从式遥操作系统.引入波变量保证系统在操作过程中的稳定性.以虚拟环境中灵巧手的位姿代替实际力作用方向的位移,用于虚拟力计算;使用事先实验获得的实际材料接触力特性数据进行虚拟力外推.仿真实验结果表明,该方法能给操作者提供连续的力反馈,保证了较高的透明度和刷新率.A wave-variable based teleoperation system with force-feedback was designed in which wave variables were imported to ensure a stable teleoperation. The position and pose of the robot hand were used in VR environment to calculate the virtual force, without using the displacement along the line lock of action of force. Extrapolation method based on contact force data were used to calculate virtual force in VR environment. The contact force data were obtained from the experiments. Simulation results show that this method can provide smooth force feedback to the human operator to guarantee high transparency and refresh rate

关 键 词：机器人 遥操作 力反馈 外推法 波变量 时延 

分 类 号：TP872.3[自动化与计算机技术—检测技术与自动化装置]