遥操作机器人执行末端的力反射型变增益力反馈算法

在以遥操作工程机器人执行末端为从端的力反馈双向伺服系统中,为了使主端受力真实地反映从端执行末端叉手所受的环境力,在力反射型算法的基础上,提出了一种变增益力反馈算法。根据机器人叉手的运动模型建立叉手液压缸位移与驱动力关系的数学模型,以此调节主端的力反馈控制增益。为了验证该算法的优越性,将该算法与常用的力反射型算法进行了比较实验。实验证明,该算法在保证系统稳定性的前提下,精确地反映了机器人叉手在运动中的惯性力和阻尼力所带来的影响,操作者可以更为真实地感知机器人从手所受环境力的变化,有利于系统工作性能的提高。

Gain switching force feedback algorithm for teleoperation robot end actuator

A novel gain-switching force feedback algorithm was proposed based on the common force reflect algorithm to make the master-end force truly reflect the force acting on the end actuator forkglove of the slave robot in the bidirectional force feedback servo-system of the master-slave system of the teleoperation engineering robot.A mathematical model for the relationship between the displacement and the driving force of the robot forkglove cylinder was built based on the kinematics of the forkglove to adjust the force feedback control gain of the master-end.The proposed gain-switching algorithm was compared experiment-ally with the common force refleet algorithm.It was proved that the novel algorithm accurately reflects the effects of the inertia force and the damp force of the robot forkglove during its motion process under the prerequisite for system stability,the operator can sense more truly the variation of the force acting on the stave-end of the robot,which helps to improve the working capability of the teleoperation system.