| 遥操作机器人系统的稳定性研究 |
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| 引用本文： | 国思茗,李乃川,孙晶,唐文军,谷春雷.遥操作机器人系统的稳定性研究[J].自动化技术与应用,2013(11):28-33. |
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| 作者姓名： | 国思茗 李乃川 孙晶 唐文军 谷春雷 |
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| 作者单位： | [1]黑龙江省科学院自动化研究所,黑龙江哈尔滨150090 [2]哈尔滨市第五建筑工程公司,黑龙江哈尔滨150090 |
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| 摘 要： | 遥操作机器人系统由于系统模型的不确定性以及长距离通讯造成的时延,使系统稳定性能变差、透明度下降.本文利用时间前向观测器来推算从机械手的状态,通过对位置、速度和力的反馈参数的设计消除时延对系统的影响.通过仿真验证了所设计的控制器,既可以使系统渐近稳定,又使系统具有良好的透明性.
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| 关 键 词： | 遥操作机器人 稳定性 透明性 反馈参数 |
Research on Stability of Teleoperation Robot System |
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| GUO Si-ming,LI Nai-chuan,SUN Jing,TANG Wen-jun,GU Chun-lei.Research on Stability of Teleoperation Robot System[J].Techniques of Automation and Applications,2013(11):28-33. |
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| Authors: | GUO Si-ming LI Nai-chuan SUN Jing TANG Wen-jun GU Chun-lei |
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| Affiliation: | 1.College of Automation, Heilongjiang Institute of Science＆ Technology, Harbin 150090 China; 2.The fifth construction company in Harbin City, Harbin 150001 China;) |
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| Abstract: | Since the uncertain system model and time delay result of long distance communication,a teleoperation system usually has instability and bad transparency.This paper utilizes time forward observer to predict the states of the slave hand,and designs the feedback parameters of position,velocity and force to remove the effect of time delay.The simulation results demonstrate the designed controllers to make the system not only stable but also transparent. |
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| Keywords: | teleoperation robot stability transparency feedback parameters |
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