计算机科学 ›› 2022, Vol. 49 ›› Issue (6A): 714-722.doi: 10.11896/jsjkx.210300076
尹宏俊1, 邓楠2, 程亚迪2
YIN Hong-jun1, DENG Nan2, CHENG Ya-di2
摘要: 为解决常规速度级控制器难以在非理想接触条件下保证电驱动仿生六足机器人速度跟踪能力的问题,提出一种基于加速度模糊控制的六足机器人双边遥操作方法。首先建立主端位置与从端速度的半自主映射方案,在此基础上确定机体加速度与腿部关节驱动量之间的关系式;其次采用模糊控制算法对遥操作系统的控制律进行设计,再利用Llewellyn准则求解控制律参数的稳定范围,并将所跟踪的速度/力信息分别以触觉力的形式反馈给操作者;最后搭建半物理仿真实验平台,实验结果验证了所提方法具有可行性,且遥操作系统的速度跟踪以及力透明度得到了明显提升。
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