| 基于虚拟现实技术的遥操作机器人的鲁棒性控制策略 |
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| 引用本文： | 陈俊杰,黄惟一. 基于虚拟现实技术的遥操作机器人的鲁棒性控制策略[J]. 控制理论与应用, 2006, 23(5): 823-829 |
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| 作者姓名： | 陈俊杰 黄惟一 |
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| 作者单位： | 东南大学,仪器科学与工程系,江苏,南京,210096;东南大学,仪器科学与工程系,江苏,南京,210096 |
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| 基金项目： | 国家863高技术资助项目(2002AA742048); 中国博士后基金资助项目(2003034368)． |
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| 摘 要： | 为了克服遥操作机器人系统通讯时延,并保证系统稳定性和透明性,在定义了最佳碰撞收敛速度并阐述了其确定方法的基础上,从更适用性意义出发,设计并研究了一套基于虚拟现实技术的遥操作机器人系统控制结构和控制算法,阐述了其系统的实现手段,使系统对几何建模误差和动力学建模误差均具有较强的鲁棒性．实验结果显示了其方法的有效性．
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| 关 键 词： | 遥操作 虚拟现实技术 控制算法 时延 鲁棒性 |
| 文章编号： | 1000-8152（2006）05-0823-07 |
| 收稿时间： | 2004-08-25 |
| 修稿时间： | 2004-08-252005-10-10 |
Robust control strategy of telerobot based on virtual reality technology |
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| CHEN Jun-jie,HUANG Wei-yi. Robust control strategy of telerobot based on virtual reality technology[J]. Control Theory & Applications, 2006, 23(5): 823-829 |
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| Authors: | CHEN Jun-jie HUANG Wei-yi |
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| Affiliation: | Depanment of Instrument Science and Technology, Southeast University, Nanjing Jiangsu 210096, China |
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| Abstract: | In order to overcome the time-delay in telerobot system and guarantee the stability and transparency of the system, optimal velocity of impact convergence is firstly defined and its determination method is clarified. Then based on more applications, the control structure and algorithm of the telerobot system based on virtual reality technology are designed and analysed, and the implementation of the system is also specified. The designed system possesses stronger robustness, being able to tolerate both geometrical modeling error and dynamic modeling error. Experiment results demonstrate the validity of the methods in the paper. |
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| Keywords: | teleoperation virtual reality technology control algorithm time-delay robustness |
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