引用本文:陈俊杰,黄惟一.基于虚拟现实技术的遥操作机器人的鲁棒性控制策略[J].控制理论与应用,2006,23(5):823~829.[点击复制]
CHEN Jun-jie, HUANG Wei-yi .Robust control strategy of telerobot based on virtual reality technology[J].Control Theory and Technology,2006,23(5):823~829.[点击复制]
基于虚拟现实技术的遥操作机器人的鲁棒性控制策略
Robust control strategy of telerobot based on virtual reality technology
摘要点击 1922  全文点击 1297  投稿时间：2004-08-25  修订日期：2005-10-10
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DOI编号  10.7641/j.issn.1000-8152.2006.5.031
  2006,23(5):823-829
中文关键词  遥操作  虚拟现实技术  控制算法  时延  鲁棒性
英文关键词  teleoperation  virtual reality technology  control algorithm  time-delay  robustness
基金项目  国家863高技术资助项目(2002AA742048); 中国博士后基金资助项目(2003034368)．
作者单位
陈俊杰,黄惟一 东南大学仪器科学与工程系,江苏南京210096 
中文摘要
      为了克服遥操作机器人系统通讯时延,并保证系统稳定性和透明性,在定义了最佳碰撞收敛速度并阐述了其确定方法的基础上,从更适用性意义出发,设计并研究了一套基于虚拟现实技术的遥操作机器人系统控制结构和控制算法,阐述了其系统的实现手段,使系统对几何建模误差和动力学建模误差均具有较强的鲁棒性．实验结果显示了其方法的有效性．
英文摘要
      In order to overcome the time-delay in telerobot system and guarantee the stability and transparency of the system, optimal velocity of impact convergence is firstly defined and its determination method is clarified. Then based on more applications, the control structure and algorithm of the telerobot system based on virtual reality technology are designed and analysed, and the implementation of the system is also specified. The designed system possesses stronger robustness, being able to tolerate both geometrical modeling error and dynamic modeling error. Experiment results demonstrate the validity of the methods in the paper.