力觉临场感遥操作机器人(4):系统的操作性能评价

力觉临场感遥操作机器人系统是一种典型的人-机-环交互系统,临场感是遥操作的核心.如何评价力觉临场感遥操作机器人系统的操作性能即临场感程度,目前大多采用基于人机工效学的主观评价分析方法.通过建立力觉临场感遥操作机器人系统的二端口网络模型,对操作者在遥操作过程的感知和控制行为进行了分析,给出了虚拟阻抗的定义,以此为基础提出了可定量评价系统操作性能即力觉临场感程度的阻抗比较法.利用阻抗比较方法对现有的4种不同反馈控制结构遥操作机器人的操作性能作了分析与评价.

Force telepresence telerobot（4）：Evaluation of operational performance

The force telepresence telerobot system is a typical human-robot-environment-interaction system,and the telepresence is the core of teleoperation system.How to evaluate the operating performance or telepresence degree of a force telepresence teleoperation system is a basic problem.At present,the evaluation of the operating performance mainly uses the human？s subjective evaluation based on the ergonomics theory. In this paper, a two-port network model of the force telepresence teleoperation system is established, and the perception and control behavior of human operator in the telerobot system is analyzed. Then we give a definition of virtual impedance as a basis for quantitatively evaluating the operational performance of the telerobot systems, which is called impedance comparative method.At last,the operating performances of existing four types of telerobot systems based on different control structures are analyzed and evaluated by using the impedance comparative method.