| 主从式遥控机器人力觉临场感技术的研究 |
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| 引用本文： | 陈卫东,蔡鹤皋.主从式遥控机器人力觉临场感技术的研究[J].高技术通讯,1996,6(12):19-22. |
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| 作者姓名： | 陈卫东 蔡鹤皋 |
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| 作者单位： | 哈尔滨工业大学机器人研究所 |
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| 摘 要： | 通过建立一套３自由度主从式遥控机器人系统研究了力觉临场感技术，在双向力反应控制系统中采用了力反馈－位置型控制方案。力觉保真度及可操纵性实验表明，此控制方案具有可行性，对进一步提高系统性能提供了借鉴。
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| 关 键 词： | 机器人 力觉临场感 控制系统 |
Research on Master-Slave Telerobot Force Telepresence Technology |
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| Chen Weidong, Cai Hegao, Zhao Jie,Jia Guowu.Research on Master-Slave Telerobot Force Telepresence Technology[J].High Technology Letters,1996,6(12):19-22. |
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| Authors: | Chen Weidong Cai Hegao Zhao Jie Jia Guowu |
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| Abstract: | The research on force telepresence technology has been made through establishing a set of threefreedom master-slave telerobot systems. A force feedback and position control scheme is adopted in thebilateral force response control system. Experiments of force fidelity and manoeuvrability demonstrate thepracticability of this control scheme and provide the possibility to improve the performance of the system. |
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| Keywords: | Master- slave telerobot Force telepressence Bilateral force response control Manoeuvrability |
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