主从遥操作机械手的阻尼触觉反馈  

Damped Haptic Feedback for Master-Slave Telemanipulators

作　　者：潘雷 潘明章 李劲 梁科 PAN Lei;PAN Mingzhang;LI Jin;LIANG Ke(School of Mechanical Engineering,Guangxi University,Nanning Guangxi 530004,China)

机构地区：[1]广西大学机械工程学院,广西南宁530004

出　　处：《机床与液压》2024年第6期1-6,共6页Machine Tool & Hydraulics

基　　金：广西科技基地和人才专项(2021AC19324)。

摘　　要：遥操作机械手因其独特的优势,已被广泛用于太空探索、深海探测、核设施维护和医疗手术。然而,随着任务复杂性和安全要求的提高,要求遥操作机械手具有更好的避障能力。针对此问题,提出一种新的基于可变阻尼的触觉反馈方法,为操作者提供阻尼力以感知远程环境中的障碍物,从而完成避障任务。在此基础上,提出避障阻尼模型,以解决传统的触觉方法由于考虑因素不全面而导致的不准确问题。该模型不仅考虑了传统的距离因素,还根据速度方向的新因素预测了遥操作机械手的碰撞情况,以在线调整阻尼值。实验结果表明:与没有触觉反馈的远程操作相比,该方法能够有效地提高远程操作的安全性和人类操作员的工作效率。Telemanipulators have been widely used in space exploration,deep-sea exploration,nuclear facility maintenance and medical surgery due to its unique advantages.However,with the increase of task complexity and safety requirements,telemanipulators are required to have better obstacle avoidance capabilities.Aiming at this problem,a new haptic feedback method was proposed based on variable damping,which could provide the operator with damping force to perceive obstacles in the remote environment to complete the obstacle avoidance task.On this basis,a damping model for obstacle avoidance was proposed to solve the inaccurate problem of traditional haptic methods due to incomplete consideration of factors.In the model,not only the conventional factor of distance was considered,but also the collision of the telemanipulator was predicted according to the new factor of the velocity direction to adjust the damping value online.The experiment results show that the proposed method is effective in improving the safety of teleoperation and the productivity of human operators compared to the teleoperation without haptic feedback.

关 键 词：遥操作机器人 触觉反馈 避障 阻尼 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TH16[自动化与计算机技术—控制科学与工程]