Research and Development on Fusion System of Remote Control andAutonomous Control for Realization of Human Support System

本课题旨在利用遥控与自主控制相结合的融合控制器实现人体支持系统。本文的研究成果可以概括为以下几点。(1)利用机器人内部传感器和外部传感器，对机器人系统和工具之间的运动参数进行了估计。(2)提出了不同自由度主从系统的功能分解双边控制方法。(3)提出了一种基于力的变柔度控制器来实现柔性运动。

This project aimed at the realization of human support system by using the fusion controller of remote control and autonomous control. The research achievements can be summarized as the following points. (1) The control method for the task by using the tool is developed and the kinetic parameters between the robotic system and the tool are estimated by using the internal sensors and external sensors. (2) The bilateral control with functional decomposition for master and slave with different degrees of freedom is developed. (3) A force-based variable compliance controller is proposed to archive flexible motion due to the contact condition.