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| 力觉临场感遥操作机器人系统的鲁棒控制 | |
| 引用本文： | 陈启宏,费树岷,全书海,宋爱国. 力觉临场感遥操作机器人系统的鲁棒控制[J]. 系统科学与数学, 2004, 24(4): 496-503 |
| 作者姓名： | 陈启宏 费树岷 全书海 宋爱国 |
| 作者单位： | 1. 武汉理工大学自动化学院180号信箱,武汉,430070 2. 东南大学自动化研究所,南京,210096 3. 东南大学仪器科学与工程系,南京,210096 |
| 基金项目： | 国家863高技术项目(863-2001AA423140)资助课题. |
| 摘 要： | 力觉临场感遥操作机器人系统的通信通道中存在通信时延,而且在机器人和环境建模中,系统参数存在不确定性,以致可能造成系统不稳定和操作性能降低.针对通信时延和系统不确定性,建立系统的状态方程,利用鲁棒控制理论,提出用力、位置和速度反馈的控制方法.分析与实验表明,用该方法设计的控制器能使系统鲁棒渐近稳定,而且能使系统完全透明. |
| 关 键 词： | 力觉临场感 时延 鲁棒控制 透明性 |
| 修稿时间： | 2002-08-02 |
ROBUST CONTROL OF FORCE REFLECTING TELEPRESENCE TELEOPERATION ROBOT SYSTEMS |
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| Chen Qihong. ROBUST CONTROL OF FORCE REFLECTING TELEPRESENCE TELEOPERATION ROBOT SYSTEMS[J]. Journal of Systems Science and Mathematical Sciences, 2004, 24(4): 496-503 | |
| Authors: | Chen Qihong |
| Affiliation: | (1)School of Automation, Wuhan University of Technology, Wuhan 430070;(2)Research Institute of Automation, Southeast University, Nanjing 210096;(3)School of Automation, Wuhan University of Technology, Wuhan 430070;(4)Department of Instrument Science and Engineering, Southeast Uni |
| Abstract: | There are uncertainties in parameters of a force reflecting teleoperation robot system, and there are communication time delays in the communication channels between master and slave robots. These may conduce to instability and bad performance of the system. In order to eliminate or reduce the effect of time delays and uncertainty on a teleoperation robot system, the state equation of the system is firstly built in this paper. And secondly, a force, position and velocitv feedback approach is proposed based on the robust control theory. Analysis and experiment show that the whole closed-system is robust stable and transparent. |
| Keywords: | Force reflecting telepresence time delay robust control transparency. |
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