摘要
分析了临场感遥操作机器人系统组成及工作原理,并以虚拟力以接触性碰撞动力学检测为例,提出了FV接触式中虚拟力的检测算法。该算法考虑了惯性、阻尼系数及弹性系数,并指出虚拟交互力是FV接触式中虚拟力的矢量和。选取临场感遥操作机器人系统对该算法进行了验证,分析了物体的位移及作用力的大小。试验结果表明,虚拟力f_v和主手力f_m、从手力fs基本一致,该算法的精确度较高,并且具有可行性。
Analyze the teleoperation robotic system components and working principle, and take the virtual force to con- tact the collision dynamics detection as an example, propose a virtual force FV-contact detection algorithm which takes into account inertia, damping and elasticity. The virtual interaction FV contact force is the vector sum of the virtual force. Final- ly select teleoperation robot system to verify the algorithm to analyze the size of the displacement and the force of objects. The results show that virtual force fv, master hand power fm and consistent from practicing hand fs are about the same, and the algorithm is feasible in high accuracy.
出处
《新技术新工艺》
2015年第12期56-59,共4页
New Technology & New Process
