| 导纳型力觉接口的透明性力觉交互研究 |
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| 引用本文： | 朱延河,臧希喆,闫继宏,孟庆鑫,赵杰.导纳型力觉接口的透明性力觉交互研究[J].哈尔滨工业大学学报,2009,41(3):22-25. |
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| 作者姓名： | 朱延河 臧希喆 闫继宏 孟庆鑫 赵杰 |
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| 作者单位： | 朱延河,ZHU Yan-he(哈尔滨工业大学,机器人技术及系统国家重点实验室,哈尔滨,150001;哈尔滨工程大学,机电工学院,哈尔滨,150001);臧希喆,闫继宏,赵杰,ZANG Xi-zhe,YAN Ji-hong,ZHAO Jie(哈尔滨工业大学,机器人技术及系统国家重点实验室,哈尔滨,150001);孟庆鑫,MENG Qin-xin(哈尔滨工程大学,机电工学院,哈尔滨,150001)
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| 基金项目： | 国家高技术研究发展计划(863计划)，哈尔滨科技创新人才专项基金 |
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| 摘 要： | 提出了一种面向导纳型力觉接口设备透明性优化的自适应人机力觉交互算法,在基于速度环力前馈PI控制器基础上引入了接触刚度在线辨识及迭代修正.构造了该自适应控制律作用下系统稳定性的判定函数,证明了当力觉接口的速度环渐进无差时控制器具有全局稳定性.力觉接口设备与固定刚度环境接触以及与操作者随机交互的实验结果表明,控制算法能够自适应操作者与力觉接口之间的抓握刚度变化,在保证稳定性的同时有效提高力觉交互过程的透明性.
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| 关 键 词： | 导纳型力觉接口 力觉交互 接触刚度辨识 透明性 全局稳定性 |
Transparent haptic interaction for admittance type haptic interfaces |
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| ZHU Yan-he,ZANG Xi-zhe,YAN Ji-hong,MENG Qin-xin,ZHAO Jie.Transparent haptic interaction for admittance type haptic interfaces[J].Journal of Harbin Institute of Technology,2009,41(3):22-25. |
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| Authors: | ZHU Yan-he ZANG Xi-zhe YAN Ji-hong MENG Qin-xin ZHAO Jie |
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| Affiliation: | 1(1.State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China;2.School of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China) |
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| Abstract: | A transparency oriented self-adaptive algorithm applied to admittance type haptic devices is proposed,which is based on an inner velocity loop PI controller with desire force feed-forward.Besides,an on-line iterative approach is presented to estimate the stiffness parameter of the controller.The systemic stability proof of the algorithm is realized by constructing Liapunov stability criterion with system states.The comparative experimental results show that the new method can accommodate the contact stiffness variation and effectively improve the transparency of haptic system. |
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| Keywords: | admittance type haptic device haptic interaction contact stiffness identification transparency global stability |
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