Task Based Bilateral Control for Microsystems Application
Task Based Bilateral Control for Microsystems Application
复制标题
基于任务的微系统双边控制应用
DOI：
10.1080/00051144.2011.11828410
复制
发表时间：
2011
期刊：
影响因子：
1.9
通讯作者：
A. Sabanoviç
中科院分区：
文献类型：
--
作者：
M. Elitaş;Shahzad Khan;A. O. Nergiz;A. Sabanoviç
设计一个运动控制系统，方便于工业、航天、生物、医学等广泛的应用，特别是包括多个物理环境的应用是非常重要的。众所周知的控制体系结构，如轨迹跟踪，柔顺控制，相互作用力控制是科学的里程碑，其具有共同的控制任务：保持期望的系统配置。在这个概念中，运动控制系统可以是与环境或任何其他系统都不受约束的运动执行交互，或者与环境和/或其他系统接触的受约束运动系统。本文提出了基于功能的设计方法，制定控制的约束系统，特别是双边系统的微操作应用。控制目标旨在保持人与环境之间的功能关系，定义方便的任务及其在主运动系统和从运动系统上的适当关系。关于位置跟踪，力控制和主从系统之间的透明度的初步结果清楚地表明。
Design of a motion control system, convenient for a wide range of applications in industry, space, biology, medicine, particularly including more than one physics environment is very important. Well known control architectures like trajectory tracking, compliance control, interaction force control are scientific milestones which has common control task: to maintain desired system configuration. In this concept, motion control system can be an unconstrained motion-performed interaction with neither environment nor any other system, or constrained motionsystem in contact with environment and/or other systems. This paper provides the function based design approach to formulate control of constrained system particularly bilateral systems in micromanipulation applications. The control objective aimed to maintain desired functional relations between human and environment defining convenient tasks and their proper relations on master and slave motion systems. Preliminary results concerning position tracking, force control and transparency between master and slave systems are clearly demonstrated.