| 基于阻抗辨识器的摇操作工程机器人主从控制 |
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| 引用本文： | 李笑,山田宏尚. 基于阻抗辨识器的摇操作工程机器人主从控制[J]. 机床与液压, 2006, 0(9): 191-193,238 |
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| 作者姓名： | 李笑 山田宏尚 |
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| 作者单位： | 广东工业大学机电学院,广东广州,510090;岐阜大学工学部,日本岐阜,501-1193 |
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| 摘 要： | 提出一种基于阻抗辨识器的摇操作工程机器人主从控制方法.首先建立负载阻抗辨识器模型，依此模型，通过在线提取负载力和监测负载形变，获得负载阻抗，以此改变从动手机构的控制量。实验证明，基于该方法提出的变增益控制和位置-力复合控制的主从控制结构及算法，均可使操作者对负载形变及刚度的感觉得到明显改善.
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| 关 键 词： | 工程机器人 阻抗 辨识器 主从控制 |
| 文章编号： | 1001-3881（2006）9-191-3 |
| 收稿时间： | 2005-07-18 |
| 修稿时间： | 2005-07-18 |
Master-slave Control of Tele-operated Construction Robot Based on Impedance Identifier |
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| LI Xiao,Hironao YAMADA. Master-slave Control of Tele-operated Construction Robot Based on Impedance Identifier[J]. Machine Tool & Hydraulics, 2006, 0(9): 191-193,238 |
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| Authors: | LI Xiao Hironao YAMADA |
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| Affiliation: | 1. Faculty of Mechatronic Engineering, Guangdong University of Technology, 2. Faculty of Engineering, Gifu University, Gifu 501 - 1193 Guangzhou 510090, China; , Japan |
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| Abstract: | A master-slave control method based on impedance identifier for Tele-operated construction robot was proposed.The load impedance identifier model was built and was used on line to obtain the load impedance by identifying load force and monitoring load deformation.With the load impedance,the control input of the slave actuator of the robot was regulated.According to this method,the master-slave control structures and algorithms called variable-gain position control,position-force combined control,were proposed.The experimental results confirm that they obviously improve the operator's sense to the deformation and stiffness of the load. |
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| Keywords: | Construction robot Impedance Identifier Master - slave control |
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