共查询到18条相似文献,搜索用时 750 毫秒
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提出一种气动装置以实现在主从式机器手系统中产生力觉临场感。该装置由机械气动结构与PWM控制器两部分组成。详细介绍了力感再现装置力感形成原理与控制方法,搭建了压力修正实验与应力采集实验。实验结果表明,所设计的PWM控制器精确实现了力感驱动气缸的压力控制。该装置用在主从式机器手系统中,能够良好地实现力觉临场感。 相似文献
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针对手术机器人在颅颌面手术过程中无法有效跟踪期望位置和接触力的问题,提出一种基于模糊神经网络的变阻抗控制策略。首先,利用模糊PID位置控制模块对机器人运动至手术切口位置的期望轨迹进行跟踪控制。其次,通过基于神经网络的变阻抗控制模块建立起机械臂与目标之间的力/位置动态关系,该模块可对机器人辅助手术过程中的力跟踪偏差进行及时的自适应修正,以实时补偿环境动态变化带来的影响,提高了环境交互的安全性以及力跟踪的准确性。最后,对提出的控制方法进行验证,结果表明,在动态变化的手术环境下,相比传统定阻抗参数控制方法,该方法拥有更好的跟踪控制效果。 相似文献
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工业机器人关节刚度较低,在外负载干扰下加工精度较低,阻碍机器人在加工系统中的进一步推广和应用。为解决该问题,提出一种力前馈控制-位置反馈控制复合补偿方法,其中力前馈控制可超前补偿由外部负载力引起的位置偏差,位置反馈部分用于补偿机器人内部因素导致的位置偏差。利用六维力传感器和激光跟踪仪构建了轨迹误差在线补偿闭环控制系统,进行轨迹精度在线补偿试验,验证该方法的轨迹误差补偿效果。综合考虑机器人因内部参数和外部环境因素引起的误差,提高机器人的轨迹精度,能够实现机器人的精准控制。试验结果表明,该方法具有较强的鲁棒性,在外负载下依然可保持较高的轨迹跟踪精度,200 N冲击载荷下路径轨迹误差峰值为0.082 mm,稳态误差为0.047 mm,为复杂工况下高精度机器人加工奠定了基础。 相似文献
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针对建筑机器人在钻孔过程中由于钻头偏移引起振动的问题,对柔性关节机器人模型、钻削力、时延控制等进行了研究。提出了一种因钻头偏移而引起钻削力波动的理论,并引入PD_TDC控制方法来控制机器人的位姿来减少钻头偏移量,从而减少了振动;利用拉格朗日动力学方法,建立了柔性关节的机器人系统;利用动态前角的方法,建立了钻削力模型;基于Matlab/Simulink建立了三自由度特定位姿的平面进给机器人的仿真模型;利用PD_TDC控制方法,对进给过程中的转角偏移进行了快速的补偿。研究结果表明:该方法可以有效减小各关节转角的偏差,减小钻头偏移角度以及钻削力的变化范围,有效抑制振动,提高了孔的加工质量。 相似文献
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针对目前遥操作机器人双向控制策略中所存在的力反馈冲击过大及主、从手间的位置跟随特性差等问题,综合传统的位置对称型和力偏差反馈型控制方法的优点,提出新型的位置差-力差双向遥操作机器人控制策略.通过仿真验证了所设计控制器的有效性.仿真结果表明,所设计的控制器,既解决了力反馈冲击问题,又提高了主、从位置跟随精度,从而提高了遥操作机器人系统的操作性能. 相似文献
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渐开线齿廓总偏差和螺旋线总偏差是由它们各自的斜率偏差及形状偏差所组成,斜率偏差及形状偏差的分项质量更能直观地反应出现论设计,机床及刀具的调整。计量检测仪器的发展为分项质量控制创造了有利的条件。分项质量控制目的就是为了更快捷地得到较好的整机质量。 相似文献
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手指对接触环境具有柔顺性是实现多指灵巧操作的关键,阻抗控制是实现机器人柔顺控制的主要方法之一。针对HIT灵巧手手指,阐述了其力/力矩传感器的设计,包括指尖六雏力/力矩传感器和2个关节力矩传感器。利用指尖六维力/力矩传感器作为力反馈,实现了笛卡尔空间的阻抗控制。 相似文献
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This paper establishes a novel control strategy for a nonlinear bilateral macro–micro teleoperation system with time delay. Besides position and velocity signals, force signals are additionally utilized in the control scheme. This modification significantly improves the poor transparency during contact with the environment. To eliminate external force measurement, a force estimation algorithm is proposed for the master and slave robots. The closed loop stability of the nonlinear micro–micro teleoperation system with the proposed control scheme is investigated employing the Lyapunov theory. Consequently, the experimental results verify the efficiency of the new control scheme in free motion and during collision between the slave robot and the environment of slave robot with environment, and the efficiency of the force estimation algorithm. 相似文献
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WANG Shihua XU Bugong WANG Shihua ZHOU Yeming LIU YunHui 《Frontiers of Mechanical Engineering》2008,3(3):299
A remote control system that can control a mobile robot in real time via the internet is proposed. To compensate for the network delay and counteract its impact on the teleoperation system, a predictive control scheme based on the modified Smith predictor proposed is selected. To ensure the stability and transparency of the system, a dynamic model manager is designed based on the information exchange between the sensors at the master and slave sides. To precisely predict the time delay, a new timer synchronization algorithm is proposed. To decrease delay- jitter, a new data buffer scheme is performed. Force feedback and a virtual predictive display are introduced to enhance the real-time efficiency of teleoperation. The usefulness and effectiveness of the proposed method and system are proven by teleoperation experiments via the internet over a long distance. 相似文献
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传统三边遥操作系统的力传感器对主从端交互力进行测量时局限性较大,且在共享权重切换时易导致系统不稳定,本
文设计基于力估计与权重切换控制的六足机器人三边遥操作控制架构。 针对系统各端口交互力信息缺失的问题,设计一种非
线性交互力估计器,实现对各端口间交互力的实时估计。 聚焦双操作者控制权重动态调整过整中的柔顺切换问题,本文基于共
享控制策略,设计权重因子自适应切换算法。 为保证所提出系统的稳定性及透明度,融合力估计器及权重切换算法,设计遥操
作系统的控制器。 通过力反馈设备分别和 Vortex 与 ElSpider 六足机器人搭建半物理仿真平台与实物实验平台,对本文提出控
制方法进行验证。 相对于传统三边遥操作,实验表明在平坦地形下速度跟踪性提高了 45. 12% ,力跟踪提高了 64. 71% ;在崎岖
地形下速度跟踪提高了 39. 02% ,力跟踪提高了 29. 41% 。 相似文献
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遥操作机器人位置反馈型H_∞双向伺服控制系统研究 总被引:1,自引:0,他引:1
针对目前遥操作机器人双向伺服控制策略中存在的主、从手间位置跟随性差,以及抓取刚性物体时主手所受反馈力冲击过大等问题,提出了一种位置反馈型H∞双向伺服控制算法.同时,采用状态观测器消除操纵杆液压系统动态特性差异及系统的阻尼、摩擦力、惯性阻力等干扰因素.搭建二自由度同构型主从遥操作系统试验台,并进行了现场试验.结果表明,所提出的位置反馈型H∞双向伺服控制策略能有效地改善高刚性操纵杆力觉临场感和主从位置跟随特性,并能很好地解决反馈力瞬间冲击问题,为力觉临场感遥操作机器人走向实用化提供了宝贵经验和关键技术. 相似文献
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Dal-Yeon Hwang Blake Hannaford Hyoukryeol Choi 《Journal of Mechanical Science and Technology》2001,15(1):1-9
The recent spread of scaled telemanipulation into microsurgery and the nano-world increasingly requires the identification of the possible operation region as a main system specification. A teleoperation system is a complex cascaded system since the human operator, master, slave, and communication are involved bilaterally. Hence, a small time delay inside a master and slave system can be critical to the overall system stability even without communication time delay. In this paper we derive an upper bound of the scaling product of position and force by using Llewellyn’s unconditional stability. This bound can be used for checking the validity of the designed bilateral controller. Time delay from the sample and hold of computer control and its effects on stability of scaled teleoperation are modeled and simulated based on the transfer function of the teleoperation system. The feasible operation region in terms of position and force scaling decreases sharply as the sampling rate decreases and time delays inside the master and slave increase. 相似文献
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Shihua WANG Bugong XU YunHui LIU Yeming ZHOU 《Frontiers of Mechanical Engineering in China》2008,3(3):299-306
A remote control system that can control a mobile robot in real time via the internet is proposed. To compensate for the network
delay and counteract its impact on the teleoperation system, a predictive control scheme based on the modified Smith predictor
proposed is selected. To ensure the stability and transparency of the system, a dynamic model manager is designed based on
the information exchange between the sensors at the master and slave sides. To precisely predict the time delay, a new timer
synchronization algorithm is proposed. To decrease delay-jitter, a new data buffer scheme is performed. Force feedback and
a virtual predictive display are introduced to enhance the real-time efficiency of teleoperation. The usefulness and effectiveness
of the proposed method and system are proven by teleoperation experiments via the internet over a long distance.
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Translated from Robot, 2007, 29(4): 305–312 [译自: 机器人] 相似文献
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Adaptive sliding mode control of a piezo-actuated bilateral teleoperated micromanipulation system 总被引:1,自引:0,他引:1
Mohammad Motamedi Mohammad Taghi AhmadianGholamreza Vossoughi Seyed Mehdi RezaeiMohammad Zareinejad 《Precision Engineering》2011,35(2):309-317
Piezoelectric actuators are widely used in micro manipulation applications. However, hysteresis nonlinearity limits the accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as the slave manipulator of a teleoperation system based on a sliding mode controller. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in feedforward scheme to cancel out this nonlinearity. The presented approach requires full state and force measurements at both the master and slave sides. Such a system is costly and also difficult to implement. Therefore, sliding mode unknown input observer (UIO) is proposed for full state and force estimations. Furthermore, the effects of uncertainties in the constant parameters on the estimated external forces should be eliminated. So, a robust adaptive controller is proposed and its stability is guaranteed through the Lyapunov criterion. Performance of the proposed control architecture is verified through experiments. 相似文献