网络遥操作力觉临场感研究  

Research on Force Telepresence of Network Teleoperation

作　　者：谷文通 符秀辉 GU Wentong;FU Xiuhui(School of Information Engineering,Shenyang University of Chemical Technology,Shenyang 110142)

机构地区：[1]沈阳化工大学信息工程学院,沈阳110142

出　　处：《计算机与数字工程》2024年第10期2937-2940,共4页Computer & Digital Engineering

基　　金：国家自然科学基金项目“基于啄木鸟啄击动态调节机理的星球仿生采样机器人研究”(编号:51775541)资助。

摘　　要：为了提高遥操作系统中操作者的操作能力,以遥操作仿人机器人为研究对象,利用人工势场法建立虚拟力模型,以遥操作手柄作为力反馈设备,给出力觉临场感的实现方法,进行操作者操纵手柄远程操纵仿人机器人手臂抓取物品实验。实验结果表明,以虚拟力模型计算得到的操作者感受到的力的理论值与操作者操纵手柄实际感受到的力基本一致,实现了虚拟力的播放过程,提高了遥操作系统中操作者的操作能力。In order to improve the operation ability of the operator in the teleoperation system,taking the teleoperation human-oid robot as the research object,the virtual force model is established by using the artificial potential field method,and the teleoper-ation handle is used as the force feedback device.The realization method of force telepresence is given,and the experiment of the operator manipulating the handle to remotely manipulate the humanoid robot arm to grasp objects is carried out.The experimental re-sults show that the theoretical value of the force felt by the operator calculated by the virtual force model is basically consistent with the actual force felt by the operator's joystick,which realizes the playback process of the virtual force and improves the operation ability of the operator in the teleoperation system.

关 键 词：力觉临场感 网络遥操作 人工势场法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]