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力觉临场感遥控作业系统在实际中经常工作在未知环境中,而环境的建模对于提高力觉临场感系统的透明性,特别是通讯时延存在时系统的透明性非常重要。目前在研究中普遍采用的是环境的阻抗模型,针对未知环境必须估计出环境阻抗模型的参数。遗传算法是近年来迅速发展起来的一种新的全局优化搜索算法。本文针对环境的阻抗模型,提出了一种基于遗传算法的环境阻抗参数估计方法,可以快速有效地估计出环境阻抗参数。实验结果表明了该方法的有效性。
Telepresence Teleoperation The operating system often works in an unknown environment in practice, and the modeling of the environment is very important to improve the transparency of the telepresence system, especially the transparency when the communication delay exists. Currently used in the study is the impedance model of the environment, for the unknown environment must be estimated environmental impedance model parameters. Genetic algorithm is a new global optimization search algorithm developed rapidly in recent years. In this paper, an environmental impedance parameter estimation method based on genetic algorithm is proposed for the environmental impedance model, which can quickly and effectively estimate the environmental impedance parameters. The experimental results show the effectiveness of the method.