面向高空幕墙安装的力反馈遥操作系统研究

建立了一种能够用于高空幕墙安装的遥操作系统。为改善幕墙安装机器人的操控性和稳定性，在视觉反馈的基础上加入力反馈，使操作者获得良好的临场感。根据结构不对称的主从机器人系统建立了主从机器人工作空间映射关系，确立了两者的工作空间转换关系。确立了机器人的轨迹规划算法，应用MATLAB进行仿真验证。设计了用于轨迹矫正的模糊PID控制器，能够很好地调节轨迹的偏移。针对系统的各项功能进行了实验，实验表明此系统既能保证安装的位置精度，又能根据从手的受力情况，降低碰撞冲击造成的风险。

Research on Tele-operation Systems for Installation of Aerial Curtain Walls Based on Force Feedbacks

A tele-operation system was established in the field of aerial curtain wall installations. To improve the handling ability and stability of the robots, this system contained the force feedback and visual feedback, allowing the operator to get a good telepresence. According to the asymmetric structures of the master-slave robot systems, the workspace mapping relation and the workspace conversion relation were established. The trajectory planning algorithms of the robots were established and simulated by MATLAB. A fuzzy PID controller was designed to adjust the tracks of the moving processes of the curtain walls. The design of remote operating system was completed, and the functions of the system were carried out. Experimental results show that the remote operating systems may ensure the positional accuracy of the installations, and reduce the risk of collision according the force feedbacks from the slave robots.