摘要
针对遥控作业中控制者操作时缺乏力觉和触觉临场感等问题，介绍了设计的带有力觉和触觉临场感主、从灵巧手系统，讨论了在从机械手上触觉和力觉的感知以及在主机械手上触觉和力觉的再现等问题，提出了利用模糊控制实现触觉再现以及改进的力反馈－位置型结构来实现力觉再现的新方法，最后进行了实验验证．
In teleoperated tasks, the operators usually lack force and tactile telepresence. In order to solve this problem, this paper introduces a system for dexterous hand with force and tactile telepresence. The problems about sensing and reproduction of tactile and force are discussed.We present some new methods to reproduce tactile using fuzzy control and to reproduce force using new force feedback position structure .Finally,the experimental result is gived.
出处
《机器人》
EI
CSCD
北大核心
1998年第6期437-441,448,共6页
Robot
基金
国家高技术航天领域863-2基金-7资助
