基于接触力信息的解耦式力反馈手控器

王一帆
王一帆
宋荆洲
宋荆洲
白杨
白杨

机器人, 2014.

Cited by: 0|Views3

Abstract:

针对空间遥操作任务设计一种新型的大行程力反馈手控器,该装置3个方向的运动相互解耦.对雅可比矩阵进行分析,该装置的速度传递和力传递具有各向同性.在此基础上提出一种基于接触力的速度控制方法.通过实时获取各轴的力传感器数据,得到操作者施加力的方向与大小.然后求解与期望力的差值,将其作为PID控制器的输入量.通过PID控制器控制电机速度,给出合适的控制量,驱动电机完成运动.制作实验样机进行测试,结果表明,上述方法能达到较好的控制效果.

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ZH基于接触力信息的解耦式力反馈手控器
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