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多点步进电机的远程位置控制系统
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作者 刘蕴红 李诗雨 《现代电子技术》 2013年第13期142-146,共5页
步进电机的远程多点位置控制系统,利用TCP协议将服务器端控制中心和客户端控制器接入因特网,可实现控制数据和位置监控数据的远程同步传输。系统采用NI公司的CompactRIO作为核心控制器;通过LabVIEW编写改进专家PID控制算法,可根据设定... 步进电机的远程多点位置控制系统,利用TCP协议将服务器端控制中心和客户端控制器接入因特网,可实现控制数据和位置监控数据的远程同步传输。系统采用NI公司的CompactRIO作为核心控制器;通过LabVIEW编写改进专家PID控制算法,可根据设定位置与实时位置的偏差动态设定输出控制器参数,有效防止过冲现象,实现步进电机的精确位置控制。步进电机的驱动控制电路由单片机和LM298构成,结合多级细分控制方法可有效抑制步进电机的震动和失步。 展开更多
关键词 远程位置控制 COMPACTRIO 改进专家PID算法 TCP协议
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Force assistant master-slave telerehabilitation robotic system 被引量:4
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作者 李会军 宋爱国 《Journal of Southeast University(English Edition)》 EI CAS 2008年第1期42-45,共4页
A prototype of the master slave telerehabilitation robotic system with force feedback is developed. This system contains a pair of robots with the master being operated by the therapist and the slave following the mas... A prototype of the master slave telerehabilitation robotic system with force feedback is developed. This system contains a pair of robots with the master being operated by the therapist and the slave following the master to guide the patients to exercise. A slave device with a slave controller is designed to stretch and mobilize the impaired elbow joints accurately and safely. A master device with a master controller is designed to control/monitor the procedure of treatment and assess the outcome of treatment remotely and accurately. By using the twoport network theory and the circuit equivalent impedance models, the position-force control scheme is designed to generate force feedback for the therapist who is to be informed of the interaction force between the subject and the robot arm during exercise. Experiments were conducted with a healthy male. Results show that the therapist can guide the patient to exercise by the master arm and can feel the interaction forces between the impaired arm and the robot. Compared with the traditional therapy, this system is more cost-efficient, more convenient and safer for both the stroke patients and the clinicians. 展开更多
关键词 TELEREHABILITATION force feedback ROBOT positionforce control scheme
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QoE Assessment in Haptic Teleoperation Systems: Position-Position versus Position-Force
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作者 Junya Osada Yutaka Ishibashi Norishige Fukushima Shinji Sugawara 《Computer Technology and Application》 2012年第11期756-764,共9页
In this paper, we make a comparison of haptic control schemes (position-position and position-force control schemes) for two haptic teleoperation systems by QoE (quality of experience) assessment. One is a remote ... In this paper, we make a comparison of haptic control schemes (position-position and position-force control schemes) for two haptic teleoperation systems by QoE (quality of experience) assessment. One is a remote control system with haptic media and video. In the system, we can write characters by controlling a haptic interface device at a remote place with another haptic interface device while watching video. The other is a remote instruction system with haptic media, video and voice. By using the system, a teacher can actively write characters and teach a student how to write the characters. The student can also write characters actively, and the teacher can confirm how the student writes the characters. We investigate the influences of network delay on QoE for the two systems with the two haptic control schemes. 展开更多
关键词 Remote control system remote instruction system haptic control schemes haptic media video VOICE QoE (quality of experience) network delay.
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