遥操作机器人的新型力反馈算法  

New force feedback algorithm for teleoperation robot

作　　者：侯敬巍[1] 赵丁选[1] 巩明德[1] 崔玉鑫[1] 

机构地区：[1]吉林大学机械科学与工程学院,长春130025

出　　处：《计算机应用研究》2011年第5期1679-1681,共3页Application Research of Computers

基　　金：国家自然科学基金资助项目(50475011);国家"863"计划资助项目(2009AA044403)

摘　　要：在采用液压挖掘机改造的遥操作机器人双向伺服控制系统中,针对大臂和前臂两个自由度构建力反馈控制算法。以准确地获取从端机器人与环境的作用力,使反馈力能够更好地反映从端工作状况为目的,采用构建干扰力补偿项的方法消除干扰力对反馈力的影响;以机器人转角为输入,以空载时检测到的液压缸作用力为输出,通过径向基函数构建干扰力补偿项,此补偿项可对多种因机器人的机械本体动力学特性产生的干扰力之合力进行补偿。实验证明,在以液压机构为从手的双向力反馈系统中,通过构建干扰力补偿项的方法提高力反馈效果的方法是可行的,采用的带有干扰力补偿的力反馈算法有效地消除了重力、摩擦力等干扰力的影响,有助于操作者更为准确地感受环境作用力。该算法适用于各类机器人连杆传动机构的力反馈控制。In the bilateral servo control system of a teleoperate robot reconstructed by a hydraulic shaver,proposed a new force feedback algorithm for the boom and arm DOF.Based on the force reflect algorithm,realized force feedback control by the force signal from the slave part.To acquire feedback force which could reflect the interaction between the slave robot and environment,proposed a new force feedback algorithm in which proposed an RBF system identification algorithm with the joint angles as input and the force when the robot was unload as output.With such a method,eliminated the dynamic forces of the robot links as disturbance force.It is proved by experiment that the method to improve force feedback effect by disturbance force compensation is feasible.The algorithm eliminates the disturbance force effectively,which helps the operator to feel the interaction between the robot and the environment.The force feedback algorithm has good performance to the force feedback control algorithm for the robot links.

关 键 词：电液伺服系统 液压挖掘机 径向基函数 干扰力补偿 力反馈 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]