力觉临场感系统的动力学建模及控制策略

Dynamics Modeling and Control Strategy of Force Telepresence System

由于对主从机器人系统中主从手的动力学控制可使操作者获得对操作物体的力觉临场感，增强其执行复杂遥操作任务的能力．基于该系统在笛卡尔空间的动力学模型，阐述了该系统的控制结构和控制策略．通过分析系统的动力学特性，表明了在不同控制策略下，主从手的动力学特性对操作者力感觉的影响．

Regulation of arm dynamics of a master slave robot system is effective to give human operator a real sensation of presence that enables him/her to perform teleoperation task dexterously with the feeling that they exist inside the slave robot in remote environment. By establishing dynamics model of a master slave robot force telepresence system in Cartesian frame, the bilateral control structure and control strategy were formulated systematically. The result of dynamics analysis shows that the operation force of operator is disturbed differently by the dynamics of master and slave arms under different control strategies. In force reflecting servo system, dynamics of both arms can be overcomed more efficiently.