提出解耦缩放的6自由度机械臂笛卡尔空间四通道力反馈控制方法
Decoupled Scaling 4ch Bilateral Control on the Cartesian coordinate by 6-DoF Manipulator using Rotation Matrix
- 在笛卡尔坐标系中解耦各维度控制，独立调节每维动态特性
- 实现与缩放因子无关的期望动态响应，提升操作直观性
- 适用于结构各异的机械臂，适合高精度远程操控场景
四通道力反馈控制通过同步两台机械臂的位置与力，实现带力反馈的远程操作，显著提升接触密集任务的操作性。其中，基于笛卡尔坐标系的四通道控制因适配不同结构的机械臂，且可通过调节控制参数调整笛卡尔空间动力学特性，从而实现人类操作的直观性。本文提出一种四通道力反馈控制方法，通过在笛卡尔坐标系中解耦各维度，使系统能独立调节每个方向的动力学特性，实现与缩放因子无关的期望动态响应。
原文摘要 · Abstract (English)
Four-channel bilateral control is a method for achieving remote control with force feedback and adjustment operability by synchronizing the positions and forces of two manipulators. This is expected to significantly improve the operability of the remote control in contact-rich tasks. Among these, 4-channel bilateral control on the Cartesian coordinate system is advantageous owing to its suitability for manipulators with different structures and because it allows the dynamics in the Cartesian coordinate system to be adjusted by adjusting the control parameters, thus achieving intuitive operability for humans. This paper proposes a 4-channel bilateral control method that achieves the desired dynamics by decoupling each dimension in the Cartesian coordinate system regardless of the scaling factor.
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