CAJ | 학술논문

为了改善遥操作系统的力反馈性能，根据从端夹持器与目标物体或障碍物的距离及从端操作臂的运动速度，设计了模糊力反馈控制器。并通过遥操作地面演示验证实验系统，对提出的控制方法进行了实验验证。实验结果表明，这种控制策略在从端操作臂的末端夹持器靠近目标物体并完成抓取的过程中，为操作者提供了合适的反馈力，使空间遥操作更加安全、可靠。
위료개선요조작계통적력반궤성능，근거종단협지기여목표물체혹장애물적거리급종단조작비적운동속도，설계료모호력반궤공제기。병통과요조작지면연시험증실험계통，대제출적공제방법진행료실험험증。실험결과표명，저충공제책략재종단조작비적말단협지기고근목표물체병완성조취적과정중，위조작자제공료합괄적반궤력，사공간요조작경가안전、가고。
In order to improve the performance of the force feedback in a teleoperation system, a novel force feedback controller with fuzzy system is designed, which is based on the distance between the slave manipulator and the target object or the obstacles, as well as the motion velocity of the slave manipulator. The proposed control scheme is validated on a ground teleoperation experiment system. Results show that appropriate force feedback can be obtained in the process of the slave manipulator moving close to the object and grasping it. The control strategy is an effective method for the operator to securely accomplish the teleoperation mission.