A gain-switching control scheme for position-error-based force-reflecting teleoperation

被引：5
|
作者：
Ni, LY [1 ]
Wang, DWL [1 ]
机构：
[1] Univ Waterloo, Dept Elect & Comp Engn, Waterloo, ON N2L 3G1, Canada
来源：
10TH SYMPOSIUM ON HAPTIC INTERFACES FOR VIRTUAL ENVIRONMENT AND TELEOPERATOR SYSTEMS, PROCEEDINGS | 2002年
关键词：
D O I：
10.1109/HAPTIC.2002.998964
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
To lower the cost of a force-reflecting teleoperation system, position errors instead of direct measurements from force/torque sensors can be used for force feedback. However, the position-position architecture with fixed PD controllers provides poor transparency. A gain-switching control scheme is developed in this paper to solve this problem. Based on the detection of the impedance change at the slave site, the master and slave PD controller gains are switched accordingly. Experimental results are shown to demonstrate the effectiveness of this method.
引用
收藏
页码：239 / 246
页数：8
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