Bilateral control of master-slave manipulators for ideal kinesthetic coupling
Bilateral control of master-slave manipulators for ideal kinesthetic coupling
复制标题
主从机械臂的双边控制，实现理想的动觉耦合
DOI：
10.1109/iros.1990.262411
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发表时间：
1990
期刊：
影响因子：
--
通讯作者：
T. Yoshikawa
中科院分区：
文献类型：
--
作者：
Y. Yokokohji;T. Yoshikawa
在双侧控制中，操作者通过主从系统与远端被控对象耦合，通过动觉感知被控对象。理想的动觉耦合可以看作是当操作者能够像直接操纵物体一样操纵系统时。作者先前讨论了Yoshikawa和Yokokohji（1988）和Yokokohji和Yoshikawa（1989）的一自由度（DOF）系统，以达到这种理想状态。本文将讨论扩展到多自由度情况。首先，定义了主从系统的理想响应。其次，分别针对不同构型臂和同构构型臂提出了新的控制方案。最后，通过仿真验证了所提控制方案的有效性。最后，从机动性的角度讨论了主、从臂的设计指导
In bilateral control, the operator is coupled with the object at the remote site through the master-slave system and he can feel the object through his kinesthesia. The ideal kinesthetic coupling can be regarded as when the operator can manipulate the system as if he were manipulating the object directly. The authors previously discussed Yoshikawa and Yokokohji (1988) and Yokokohji and Yoshikawa (1989) one degree-of-freedom (DOF) systems in order to achieve this ideal state. In this paper, the discussion is extended into multiple DOF case. First, the ideal responses of master-slave systems are defined. Secondly, new control schemes are proposed for different configuration and for isomorphic configuration arms, respectively. Thirdly, the validity of the proposed control schemes are confirmed by simulations. Lastly, design guide of master and slave arms is discussed in the viewpoint of maneuverability.<<ETX>>