%0 Journal Article
%T New force feedback algorithm for teleoperation robot<br>遥操作机器人的新型力反馈算法*
%A HOU Jing-wei
%A ZHAO Ding-xuan
%A GONG Ming-de
%A CUI Yu-xin
%A <br>侯敬巍
%A 赵丁选
%A 巩明德
%A 崔玉鑫
%J 计算机应用研究
%D 2011
%I 
%X In the bilateral servo control system of a teleoperate robot reconstructed by a hydraulic shaver, proposed a new force feedback algorithm for the boom and arm DOF. Based on the force reflect algorithm, realized force feedback control is realized by the force signal from the slave part. To acquire feedback force which could reflect the interaction between the slave robot and environment, proposed a new force feedback algorithm in which proposed an RBF system identification algorithm with the joint angles as input and the force when the robot was unload as output. With such a method, eliminated the dynamic forces of the robot links as disturbance force. It is proved by experiment that the method to improve force feedback effect by disturbance force compensation is feasible. The algorithm in this paper eliminates the disturbance force effectively, which helps the operator to feel the interaction between the robot and the environment. The force feedback algorithm in this paper has good performance to the force feedback control algorithm for the robot links.
%K hydraulic servo-system
%K hydraulic shaver
%K RBF system identification
%K disturbance force compensation
%K force feedback<br>电液伺服系统
%K 液压挖掘机
%K 径向基函数
%K 干扰力补偿
%K 力反馈
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=A9D9BE08CDC44144BE8B5685705D3AED&aid=A886B68242F396C97D379D7E7B267564&yid=9377ED8094509821&vid=D3E34374A0D77D7F&iid=94C357A881DFC066&sid=0C0A5470C59ABA43&eid=B219870B99929345&journal_id=1001-3695&journal_name=计算机应用研究&referenced_num=0&reference_num=10