| 单自由度力觉临场感比率遥操作实验系统研制 |
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| 引用本文： | 刘少强,黄惟一 王爱民.单自由度力觉临场感比率遥操作实验系统研制[J].传感技术学报,2003,16(2):161-164. |
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| 作者姓名： | 刘少强 黄惟一 王爱民 |
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| 作者单位： | 1. 东南大学仪器科学与工程系,南京,210096;中南大学铁道校区信息学院自动化工程研究中心,长沙,410075
2. 东南大学仪器科学与工程系,南京,210096 |
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| 摘 要： | 介绍了单自由度主从式力觉临场感比率遥操作实验系统的设计和低成本实现方法。由操作者操纵的主手装有直流力矩电机，与环境作用的小尺度从手选用可细分控制的步进电机驱动。采用一种2通道位置-力控制结构，进行了有时延和无时延的力觉临场感比率遥操作实验。实验结果表明了该系统的有效性。
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| 关 键 词： | 单自由度 力觉临场感 比率遥控机器人 比率遥操作实验 |
| 文章编号： | 1004-1699(2003)02-0161-04 |
| 修稿时间： | 2002年10月8日 |
Development of Experimental System for 12DOF Scaled Telemanipulator
with Force Telepresence |
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| LIU Shaoqiang{,} HUANG Weiyi WANG Aimin.Development of Experimental System for 12DOF Scaled Telemanipulator
with Force Telepresence[J].Journal of Transduction Technology,2003,16(2):161-164. |
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| Authors: | LIU Shaoqiang{ } HUANG Weiyi WANG Aimin |
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| Affiliation: | LIU Shaoqiang+{1,2} HUANG Weiyi+1 WANG Aimin+1 1.Department of instrument science and engineering,Southeast University,Nanjing,210096 P.R.China, 2.Research Center for Automation Engineering,South Central University,Changsha,410075,P.R.China |
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| Abstract: | A one-degree-of-freedom experimental system of scaled master-slave telemanipulator with force telepresence is developed and its low-cost implementation is introduced. The master manipulator controlled by an operator is equipped with a DC torque motor and the scaled down slave manipulator which executes real tasks in the environment is driven by a stepping motor with subdividing control. Based on a two-channel position-force control architecture, the scaled teleoperation with force telepresence is tested in the absence of and in the presence of time delay respectively. The experimental results illustrate the validity of the system. |
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| Keywords: | scaled telemanipulator experimental system force telepresence |
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