基于模糊系统的力反馈遥操作  

Teleoperation with Force Feedback Based on Fuzzy System

作　　者：王裕基[1] 袁明艺[1] 孙富春[1] 刘华平[1] 

机构地区：[1]清华大学计算机科学与技术系智能技术与系统国家重点实验室清华信息科学与技术国家实验室,北京100084

出　　处：《载人航天》2012年第5期65-70,77,共7页Manned Spaceflight

基　　金：国家杰出青年科学基金资助项目(60625304);国家自然科学基金资助项目(90716021);载人航天领域预先研究项目(030202)

摘　　要：为了改善遥操作系统的力反馈性能,根据从端夹持器与目标物体或障碍物的距离及从端操作臂的运动速度,设计了模糊力反馈控制器。并通过遥操作地面演示验证实验系统,对提出的控制方法进行了实验验证。实验结果表明,这种控制策略在从端操作臂的末端夹持器靠近目标物体并完成抓取的过程中,为操作者提供了合适的反馈力,使空间遥操作更加安全、可靠。In order to improve the performance of the force feedback in a teleoperation system, a novel force feedback controller with fuzzy system is designed, which is based on the distance between the slave manipulator and the target object or the obstacles, as well as the motion velocity of the slave manipulator. The proposed control scheme is validated on a ground teleoperation experiment system. Results show that appropriate force feedback can be obtained in the process of the slave manipulator moving close to the object and grasping it. The control strategy is an effective method for the operator to securely accomplish the teleoperation mission.

关 键 词：遥操作 力反馈 模糊系统 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]