Tele-manipulation system based on task-oriented virtual tool
Tele-manipulation system based on task-oriented virtual tool
复制标题
基于面向任务的虚拟工具的遥控系统
DOI：
10.1109/robot.1995.525309
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发表时间：
1995
期刊：
影响因子：
--
通讯作者：
M. Otsuka
中科院分区：
文献类型：
--
作者：
K. Kosuge;T. Itoh;T. Fukuda;M. Otsuka
提出了一种基于面向任务的虚拟机构的遥操作机器人系统替代控制算法。对于给定的任务，设计了面向任务的虚拟工具(或面向任务的虚拟机构)，使其具有作为工具并辅助操作员的工具动力学。在此基础上设计了遥操作机器人系统的控制器，该控制器具有面向任务工具的动力学特性。因此，通过控制遥操作机械臂系统，使其作为一种工具运行，大大提高了系统的可操作性。本文从无源性的角度讨论了合成系统的完全稳定性。由于系统满足无源性条件，因此通过假设人类算子的无源性，保证了具有未知动态的无源环境的全局稳定性。将所提出的控制算法应用于遥操作机器人系统。实验结果验证了该控制算法的有效性。
This paper proposes an alternative control algorithm for a tele-manipulator system based on a task-oriented virtual mechanism. For a given task, a task-oriented virtual tool (or a task-oriented virtual mechanism) is designed so that it has the tool dynamics which is used as a tool and assists an operator. Then the authors design a controller for the tele-manipulator system which has the dynamics of the task-oriented tool. Thus, the maneuverability of the system is greatly improved by controlling the tele-manipulator system so that the system behaves as a tool. In this paper, the authors discuss the total stability of the resultant system in view of passivity. Because the system satisfies the passivity condition, the total stability is guaranteed for a passive environment with unknown dynamics by assuming the passivity of a human operator. The proposed control algorithm is experimentally applied to a tele-manipulator system. The experimental results illustrate the validity of the proposed control algorithm.