力反馈技术在遥操作工程机器人作业领域中是一门新兴的前沿技术,进行这方面的研究具有广泛的应用前景.为此结合双向液压伺服系统的特点,通过对国内外的双向伺服控制系统分析,提出一种以主、从手之间的力偏差作为主动端控制信号,位置偏差和力偏差形成从手控制量的新型力反馈双向伺服控制系统,通过仿真实验结果表明,该算法对新型力觉双向液压伺服控制系统具有控制简单、收敛速度快、实时性好的特点,进而改善了系统的动态性能,具有较强的鲁棒性、自适应性和快速性.

The force feedback technology is a new kind of tele-operated robot,and it is of broad practical foreground to study in this aspect.In A novel force feedback bilateral servo system is presented through studying and analyzing traditional force feedbck control systems in this field,which regards the difference between the master's manipulative force and the master's resistance as command signal,simultaneity,the difference between the slave's displacement and the master's displacement is fed back for driving movement of the slave.The arithmetic takes on control briefness,constringency rate rapidness,real-time well,and improves dynamic characteristic of system.

TP272

国家自然科学基金