Stiffness judgment of objects through teleoperation systems based on direct force reflection control

被引：1

作者：

Liu, Xia ^{[1
]}

Jiang, Wei ^{[2
]}

Zhang, Xiaohua ^{[3
]}

机构：

[1] Xihua Univ, Sch Elect Engn & Elect Informat, Chengdu 610039, Sichuan, Peoples R China

[2] Univ Elect Sci & Technol China, Sch Automat Engn, Chengdu 611731, Sichuan, Peoples R China

[3] Hiroshima Inst Technol, Dept Intelligent Informat Syst, Hiroshima 7315193, Japan

来源：

REVIEW OF SCIENTIFIC INSTRUMENTS | 2019年 / 90卷 / 02期

基金：

中国国家自然科学基金;

关键词：

BILATERAL TELEOPERATION;

D O I：

10.1063/1.5054284

中图分类号：

TH7 [仪器、仪表];

学科分类号：

0804 ; 080401 ; 081102 ;

摘要：

The stiffness judgment of objects is an importance project in the teleoperation systems, by which the human operator understands the objects in the environment. Furthermore, an accurate force reflection is a key factor to accurately judge the stiffness of objects. In this paper, a stiffness judgment method of objects through teleoperation systems based on direct force reflection (DFR) control is proposed. A teleoperation experimental setup has been established where haptic devices are employed as the master and slave. The operator uses the local master to control the remote slave to contact different springs which are supposed as different objects. The results show the effectiveness of the stiffness judgment of objects through teleoperation systems based on DFR. Published under license by AIP Publishing.

引用

页数：9

共 13 条

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