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题名: Shared compliant control of teleoperation based on stiffness feedback
作者: Chen Y(陈洋) ; Wang XZ(王雪竹)
作者部门: 机器人学研究室
会议名称: 2013 International Conference on Mechatronics and Industrial Informatics, ICMII 2013
会议日期: March 13-14, 2013
会议地点: Guangzhou, China
会议主办者: Korea Maritime University; Hong Kong Industrial Technology Research Centre
会议录: Applied Mechanics and Materials
会议录出版者: Trans Tech Publications Ltd
会议录出版地: Zurich-Durnten, Switzerland
出版日期: 2013
页码: 1482-1486
收录类别: CPCI(ISTP) ; EI
ISSN号: 1660-9336
ISBN号: 978-3037856949
关键词: Closed loop systems ; Force control ; Information science ; Stiffness
摘要: In teleoperation tasks, communication delays between master and slave sides negatively affect the stability and transparency of closed loop system, and make it difficult to maintain a desired contact force. In order to improve the performance of contact force control in teleoperation under large time delays, a shared compliant control method is proposed in this paper. On the master side, the operator issues a desired contact force command according to the feedback of the contact stiffness identified on line besides motion commands. And on the slave side, a local contact force controller is designed using an adaptive Smith predictor, so as to shares control load with the operator. Experimental results show that this method can improve the force control performance, lower the difficulty of operation, and help the operator complete contact tasks with proper forces. © (2013) Trans Tech Publications, Switzerland.
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/12417
Appears in Collections:机器人学研究室_会议论文

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