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设计了一个基于波变量的带力反馈的主从式遥操作系统.引入波变量保证系统在操作过程中的稳定性.以虚拟环境中灵巧手的位姿代替实际力作用方向的位移,用于虚拟力计算;使用事先实验获得的实际材料接触力特性数据进行虚拟力外推.仿真实验结果表明,该方法能给操作者提供连续的力反馈,保证了较高的透明度和刷新率.
A master-slave teleoperation system with force feedback based on wave variables is designed. The wave variables are introduced to ensure the stability of the system during operation. The displacement of the dexterous hand in the virtual environment instead of the actual force is used to The virtual force calculation is carried out, and the virtual force extrapolation is carried out by using the actual material contact force characteristic data obtained in advance experiment.The simulation results show that the method can provide continuous force feedback to the operator, ensuring high transparency and refresh rate.