Modeling and analysis of a force interaction system
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摘要: 为提高力觉交互系统性能,需要通过建模和分析来了解各参数对系统性能的影响.对单自由度力觉交互系统,假设虚拟环境为被动,将操作者对系统影响分为主动输入和被动阻抗,建立了包括操作者在内的力觉交互系统模型;通过双端口网络理论的应用,就系统对刚度阻尼组合虚拟环境的稳定性进行了分析,给出了系统稳定条件的一般判定准则,并由此分析了传动刚度对系统稳定性的影响.该方法可以用于对力觉交互系统的性能评估和设计指导.Abstract: To improve the performance of a force interaction system, it is necessary to understand the effect of respective parameter on the system through modeling and analysis. Considering a 1\|DOF force interaction system, the human operator in the system was modeled as a combination of passive impedance and an active input, and the virtual environment was assumed to be passive. Through analogous treatment between the force interaction system and an electrical network system, two-port stable theory was used to derive the stability condition of the system. The effect of transmission stiffness on the system stability was particularly emphasized. The results provide important insight to the system performance and are applicable to the design of a force interaction systems.
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Key words:
- automatic control /
- stability /
- force interaction /
- port theory /
- virtual environment /
- transmission stiffness
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[1] Adams R J, Hannaford B. Stable haptic interaction with virtual environments[J]. IEEE Transactions on Robotics and Automation, 1999,15(3):465~474 [2]Colgate J E, Schenkel G. Passivity of a class of sampled-data systems:application to haptic interfaces . In:Proc of the American Control Conference . Baltimore, Maryland, 1994. 3236~3240 [3]Daniel R W, McAree P R. Fundamental limits of performance for force reflecting teleoperation[J]. International Journal of Robotics Research, 1998,17(8):811~830 [4]Luo Yangyu, Wang Dangxiao, Zhang Yuru. Development of a haptic display interface . In:2nd International Symposium on Instrumentation Science and Technology . Jinan, 2002. 272~276 [5]Hannaford B. A design framework for teleoperators with kinesthetic feedback[J]. IEEE Transactions on Robotics and Automation, 1989, 5(4):426~434 -
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