遥操作机器人系统主从控制策略  

Control strategy of master-slave robot system

作　　者：盛国栋[1] 曹其新[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《江苏科技大学学报（自然科学版）》2013年第5期493-497,共5页Journal of Jiangsu University of Science and Technology:Natural Science Edition

基　　金：国际热核聚变实验堆(ITER)计划科技部专项基金资助项目(2011GB113005)

摘　　要：近年来主从式机器人系统被广泛应用在医疗、深海等非结构性环境.在现有研究成果的基础上,研究了主从式机器人系统的控制策略.采用增量式位置控制,易于建立主端与从端的工作空间映射,并增加位置反馈提高系统的控制精度;解决了主从运动比例变化的问题;并通过搭建的主从机器人系统对位置控制策略进行验证,结果表明了系统位置控制策略的准确性和实时性.将主从位置误差引入系统的力反馈控制策略,分析系统的稳定性,并通过MATLAB/Simulink对力反馈策略进行仿真及实验验证,仿真与实验结果验证了所建立控制策略的有效性.In recent years,the master-slave robot system is widely used in many different fields,such as medical treatment and deep-sea field. The control strategy of master-slave robot system is studied on the basis of summarizing the existing research results. Incremental position control strategy is used to establish the master-slave workspace mapping conveniently,position feedback is adopted to improve control precision of the system,the problem of motion ratio change is solved and the position control strategy is proved through the built system. The results show the accuracy and instantaneity of the position strategy. Position error is introduced into force feedback strategy,the stability of the system is analyzed and the effectiveness of the force control strategy is tested through MATLAB/Simulink and experiment.

关 键 词：机器人系统 主从控制 力反馈 位置控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]