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具有力觉临场感的遥操作操纵器是主、从遥操作系统重要的人机接口,它可以向远端从机械手传送位置、姿态、速度和力等多种信息,同时可以接收从机械手的力/力矩等信息,为操作者提供力觉临场感。其性能直接影响遥操作系统的透明性、稳定性,提供有效的力觉反馈是其研究、设计的关键。对力觉临场感操纵器设计中位置控制精度、操纵器的动态特性、操纵器的各向同性、稳定性、人体工程学指标等方面的性能要求进行了分析,对其结构形式、各向同性与结构非奇异性等结构设计方面的问题进行了研究,对各种驱动方式的特点进行了比较,并对检测与控制系统结构对于系统性能的影响进行了研究。研究表明,在结构设计时,采用机械上解耦、运行过程中惯性保持不变的机械结构,将使控制算法简化。研究结果对于该类装置的研究与开发具有借鉴作用。 相似文献
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针对遥操作机器人,提出了一种操作者表现(PoT)的在线识别方法以及基于PoT的遥操作移动机器人控制框架.首先,通过分析遥操作者的EEG(脑电信号)获得5个PoT指标,并使用BP(反向传播)神经网络对其进行建模,从而实现对遥操作者表现的在线识别.随后,设计了一种基于PoT动态调节遥操作共享控制系统中的控制权重的策略.选取3名不同遥操作者进行了在线PoT识别及基于PoT的共享控制遥操作实验,实验结果证明该方法能够有效地在线识别PoT,同时基于PoT的控制框架提升了遥操作的效率和安全性. 相似文献
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This paper considers sampled-data control of bilateral teleoperation systems in the presence of time-varying delay. The assumptions on continuous-time position/force signal transmission are removed and the proposed control strategy is more realistic. By constructing a novel delay-dependent Lyapunov functional, the relationship is established among the control parameters, the delay bounds and the upper bounds of the sampling periods. The tracking performance can be achieved with the designed controller. Simulations and experiments are both provided to verify the effectiveness and benefits of the proposed approach. 相似文献
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Bilateral teleoperation systems developed in joint-space or in task-space without taking into account parameter uncertainties and unreliable communication have limited practical applications. In order to ensure stability, improve tracking performance, and enhance applicability, a novel task-space control framework for bilateral teleoperation with kinematic/dynamic uncertainties and time delays/packet losses is studied. In this paper, we have demonstrated that with the proposed control algorithms, the teleoperation system is stable and position tracking is guaranteed when the system is subjected to parametric uncertainties and communication delays. With the transformation of scattering variables, a packet modulation, called Passivity-Based Packet Modulation (PBPM), is proposed to cope with data losses, incurred in transmission of data over unreliable network. Moreover, numerical simulations and experiments are also presented to validate the efficiency of the developed control framework for task-space bilateral teleoperation. 相似文献
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描述了用自然语言控制空间遥控机械手执行远程操作的自然语言接口系统。该系统以孤立词语音识别为核心,着重于系统的可靠性和实用性。为此,在系统的开发过程中,考虑了人类语音交互的听觉感知特点、汉语的一字一音节特点、具体识识时语音的声学模型不必与其语言学模型严格一致的特点以及环境噪声对系统性能的影响等,提出以过渡段+韵母段作为识别基元,采取多层识别策略进行识别。识别实验与仿真实验结果表明,系统达到了预期性能 相似文献
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