事件触发的预定义时间无传感器规定的和个性化的对远程操作系统的符合性能的控制
IEEE transactions on cybernetics
|January 14, 2026
概括
本研究引入了远程操作系统的事件触发控制方案,提高了无力传感器的灵活性和性能. 它确保精确的跟踪和合规性,适应操作员的意图,以改善人机交互.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 人与机器人的交互
- 机械电子学是什么意思 机械电子学
背景情况:
- 远程操作系统需要精确的控制来跟踪和符合互动.
- 无传感器控制是可取的,以减少系统的复杂性和成本.
- 现有的方法往往难以平衡自由运动跟踪与基于接触的合规性.
研究的目的:
- 为远程操作系统开发一种新的无传感器,预定义时间控制方案.
- 通过通过sEMG信号结合操作员意图来增强系统灵活性.
- 为了达到保证的性能极限并减少控制频率.
主要方法:
- 预定义时间扭矩行为估计器 (PTTBE) 的设计,用于无传感器操作.
- 基于表面电肌图 (sEMG) 的可变刚度参数集成到一个入口结构中.
- 使用时间缩放,错误缩放和肌肉激活缩放功能的事件触发机制的开发.
主要成果:
- 拟议的基于PTTBE的事件触发预定义时间控制 (PTTBE-ETPTC) 方案确保在预定义时间内实现跟踪错误的融合.
- 在整个操作过程中保证不违反错误约束.
- 证明了增强的系统灵活性,平衡跟踪和符合性能,同时降低控制频率.
结论:
- PTTBE-ETPTC方案为无传感器远程操作提供了一个实用和有效的解决方案.
- 个性化合规功能显著改善了人机交互.
- 模拟和实验验证该方案的有效性和实用性.
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