单自由度力觉临场感比率遥操作实验系统研制  

Development of Experimental System for 1-DOF Scaled Telemanipulator with Force Telepresence

作　　者：刘少强[1,2] 黄惟一[1] 王爱民[1] 

机构地区：[1]东南大学仪器科学与工程系 [2]中南大学铁道校区信息学院自动化工程研究中心,长沙410075

出　　处：《传感技术学报》2003年第2期161-164,共4页Chinese Journal of Sensors and Actuators

摘　　要：介绍了单自由度主从式力觉临场感比率遥操作实验系统的设计和低成本实现方法。由操作者操纵的主手装有直流力矩电机 ,与环境作用的小尺度从手选用可细分控制的步进电机驱动。采用一种 2通道位置 -力控制结构 ,进行了有时延和无时延的力觉临场感比率遥操作实验。实验结果表明了该系统的有效性。A one-degree-of-freedom experimental system of scaled master-slave telemanipulator with force telepresence is developed and its low-cost implementation is introduced. The master manipulator controlled by an operator is equipped with a DC torque motor and the scaled down slave manipulator which executes real tasks in the environment is driven by a stepping motor with subdividing control. Based on a two-channel position-force control architecture, the scaled teleoperation with force telepresence is tested in the absence of and in the presence of time delay respectively. The experimental results illustrate the validity of the system.

关 键 词：单自由度 力觉临场感 比率遥控机器人 比率遥操作实验 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TP212[自动化与计算机技术—控制科学与工程]