倪涛,朱厚文,张红彦,黄玲涛,郑幻飞,巩明德.基于手控器触觉共享控制的主从遥操作[J].农业机械学报,2016,47(12):367-372,423.
Ni Tao,Zhu Houwen,Zhang Hongyan,Huang Lingtao,Zheng Huanfei,Gong Mingde.Master-slave Teleoperation Based on Haptic Device Tactile Shared Control[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(12):367-372,423.
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基于手控器触觉共享控制的主从遥操作   [下载全文]
Master-slave Teleoperation Based on Haptic Device Tactile Shared Control   [Download Pdf][in English]
投稿时间:2016-07-16  
DOI:10.6041/j.issn.1000-1298.2016.12.046
中文关键词:  主从遥操作  手控器  共享控制  虚拟力引导  导纳控制
基金项目:国家自然科学基金项目(51305153、51575219)和高等学校博士学科点专项科研基金项目(20130061110009)
作者单位
倪涛 吉林大学 
朱厚文 吉林大学 
张红彦 吉林大学 
黄玲涛 吉林大学 
郑幻飞 吉林大学 
巩明德 吉林大学 
中文摘要:为了提高主从遥操作的效率和系统的安全性,设计了能够实现主从位移控制的手控器,构建了基于虚拟墙引导主动控制模型,通过融合操作者的人工控制和机器人的视觉引导,实现机器人遥操作中主从两端的信息共享和相互引导,对手控器和从端作业机器人进行控制。通过搭建基于共享控制策略的手控器—机器人系统实验平台,验证所设想控制方法的有效性,最终实现了提升主从遥操作的作业效率,减轻了机器人对环境的瞬间冲击,提高了系统的安全性。
Ni Tao  Zhu Houwen  Zhang Hongyan  Huang Lingtao  Zheng Huanfei  Gong Mingde
Jilin University,Jilin University,Jilin University,Jilin University,Jilin University and Jilin University
Key Words:master-slave teleoperation  haptic device  shared control  virtual force guide  admittance control
Abstract:Because of the development limitation of control, sensor and intelligence in robotics, it is hard to fulfill the fully autonomous of robot in the changeable environment immediately. Hence, the master-slave teleoperation is becoming increasingly important in the extreme working environment. The haptic device could work as an interface and fulfill the interactional control between operator and slave working environment. In order to improve the efficiency of the master-slave teleoperation and system security, a haptic device was designed to achieve master-slave displacement control. The kinematics and dynamics property of the designed structure was analyzed, the parameters of the device were instantiated, and the rationality of the design was estimated. Active control mode was established based on virtual wall guide, through the fusion of operator’s manipulation and robotic visual guidance, information sharing and mutual guidance were realized in the teleoperation. Experiments were conducted by using a haptic device—robot system experimental platform. Compared with the trajectory of manual mode, the trajectory of active mode was smoother and more stable. Through the evaluation of haptic device’s real performance, the active control mode could ensure the stability of robot under the master-slave control. The effectiveness of the control method was verified by the experiments. Finally, the efficiency improvement of master-slave teleoperation, impact reduction of robot on environment and security improvement of the system were achieved.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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