一种新的手部远程操作方法,使用基于动态兼容原始控制器的强力和振动感应反
Peixuan Hu1, Xiao Huang1, Yunlai Wang1
1National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China.
Biomimetics (Basel, Switzerland)
|April 25, 2025
概括
这项研究引入了机器人手的新型远程操作方法,增强了操作员的沉浸感和使用模糊逻辑和振动反的顺从抓取. 生物启发的方法提高了远程操作中的情境意识和任务成功率.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人与计算机的交互
- 控制系统 控制系统
背景情况:
- 远程操作允许机器人远程行动,但当前的系统往往缺乏操作员沉浸和合规的抓取能力.
- 灵巧的机器人手需要先进的控制才能在复杂的环境中有效操纵.
研究的目的:
- 为了增强操作员的沉浸感,并在远程操作的机器人手中实现兼容,自适应的抓取.
- 开发一种新的远程操作方法,集成先进的反机制.
主要方法:
- 实现一个模糊逻辑-动态兼容原始体 (FL-DCP) 控制器用于机器人手的操纵.
- 在双边远程操作系统中整合手指对手指的力和振动反.
- 使用模糊逻辑来识别物体刚度和自适应阻抗控制.
主要成果:
- 这种新的方法显著提高了操作员的沉浸感,并提高了掌握合规性和适应性.
- 双向反提高了远程操作的成功率,并减少了操作员的疲劳.
- 实验结果表明,与现有的远程操作方法相比,性能优越.
结论:
- 这种生物启发的远程操作方法有效地模仿了类似人类的硬度调制,以实现精确的机器人控制.
- 这种方法推进了远程操作系统,使其在危险或偏远环境中能够得到更广泛的应用.
- 整合类似人类的决策和精确的机器人控制是未来远程操作发展的关键.
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