您当前所在位置: 首页 > 学者

宋爱国

  • 28浏览

  • 0点赞

  • 0收藏

  • 0分享

  • 119下载

  • 0评论

  • 引用

期刊论文

Identification and Control of Bilateral Telerobot with Time Delay

宋爱国Song Aiguo Zeng Qingjun Huang Weiyi

,-0001,():

URL:

摘要/描述

Telerobotics, the body of science and technology which bridge lannan control and purely autonomous machi-nes, is expected to be a merging point of modern develop-ments in robotics, control theory, cognitive science and computer science. Telerobot helps human operator feel and control the temote pre-unknoum environment as if he/she is at the temote site, which is usually called" telepresence". However, the transmission time delay be-tween master manipulator and slave manipulator causes in-stability of the telerobot sysem and bad" telepresence" of human operator. In this paper, a new adaptive and pas-sive control scheme based on active impedance matching is proposed to quqrantee stability and transparency of the bi-lateral telerobot system. An adaptive impedance term which is active and should adapt to the impedance of envi-toninent is defined in this new control scheme. A genetic algorithm (GA) is used to directly ulentify parameters of the environment impedance, because the GA can suc-cess in the search for global. optinaan when the search space is not differentiable or linear in the parameters. The tesults of experiment show that.

关键词:

【免责声明】以下全部内容由[宋爱国]上传于[2005年04月20日 17时56分18秒],版权归原创者所有。本文仅代表作者本人观点,与本网站无关。本网站对文中陈述、观点判断保持中立,不对所包含内容的准确性、可靠性或完整性提供任何明示或暗示的保证。请读者仅作参考,并请自行承担全部责任。

我要评论

全部评论 0

本学者其他成果

    同领域成果