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通过建立一套3自由度主从式遥控机器人系统研究了力觉临场感技术。在双向力反应控制系统中采用了力反馈-位置型控制方案。力觉保真度及可操纵性实验表明,此控制方案具有可行性,对进一步提高系统性能提供了借鉴。
Through the establishment of a set of 3 DOF master-slave remote control robotic system to study the sensory telepresence technology. In the two-way force reaction control system uses a force feedback - position control program. Force fidelity and maneuverability experiments show that this control scheme is feasible and provides reference for further improving system performance.