遥操作系统中力反馈研究与实现

力反馈的研究与实现是遥操作系统研究的重要内容之一。该文设计了一种带力反馈的主从式遥操作系统。在系统中提出以虚拟手指空间位姿代替实际力作用线方向上位移的计算和基于实际材料的虚拟力外推的方法。该方法以虚拟手指的位姿来计算虚拟力,以实验所得实际材料的数据作为索引进行虚拟力的外推。实验结果表明,和以往的考虑力和变形关系的力反馈研究相比,此力反馈系统不仅简单易行,同时保证了较高的精度和刷新率。

Research and Implementation of Force Feedback in Teleoperation System

Research and implementation of force feedback is one of the most important content in teleoperation system.A master-slaver teleoperation system with force feedback is proposed.Using virtual finger's position steading of real distance and extrapolation based on real material are also suggested in the system.This method uses virtual finger to calculate virtual force.We use real material's date got by experiment to extrapolate.The experiment result shows that compared with previous physical based on mass spring force/deform action model,this method is much easier to realize and can ensure the precision and update rate.