基于力传感器的人机协作控制算法研究

Research on Man-machine Collaboration Control Algorithm Based on Force Sensor

对类似由人操作进行上下移动的医疗设备,采用辅助的力传感器手柄改进操作方式。提出了基于阻抗模型的人手控制期望计算方法。该方法根据设备的运行状态以及交互力大小估计人的控制意图,并对控制意图进行卡尔曼滤波,以期望减少噪声和避免系统震荡。控制系统以控制期望作为控制量,根据设备的运行速度切换速度控制模式或者位置控制模式。实验证明控制方法能够达到节省人力的目的,并具有较好的控制精度。

The paralleled medical equipment which is operated by human to move up and down, use the auxiliary force sensor handle to improve operation mode. Meanwhile, this paper propose computing method of hand-control expectations based on impedance model, and the method estimate the people＇s control intents, mainly based on the device operating state and the interaction force, and the control intents are estimated by Kalman filtering to reduce noise and avoid system vibration. The control system use control intentionsas controlled variables, and according to the device speed to switch speed control mode or position control mode. Finally, through experiments show that the control method have achieved the purpose of saving effort, and has better control accuracy.