Kulakov空间操纵机器人的双边遥控方法

2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB) Pub Date : 2020-06-01 DOI:10.1109/STAB49150.2020.9140469

G. Alferov, P. Efimova, V. Korolev, D. Shymanchuk

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引用次数: 1

摘要

本文介绍了F. M. Kulakov开发的空间机器人力反馈远程控制方法。这种方法允许最小化由于控制算法中的特征而导致的信号传输延迟的影响。空间机器人与具有完整约束的物体的相互作用是装配操作中典型的问题，在这种情况下，必须使用力反馈。本文给出了双边控制系统的数学描述，并给出了机器人系统运动的一个特例。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Kulakov’s Method of Bilateral Remote Control of a Space Manipulation Robots

The article describes the approach to remote control of a space robot with force feedback developed by F. M. Kulakov. This method allows to minimize the effect of delays in signal transmission due to features in the control algorithm. Using of feedback on force is necessary for the interaction space robot with objects having holonomic constraints, which is typical for assembly operations. The article gives a mathematical description of the elements of the bilateral control system and also presents a special case of the motion of the robotic system.

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2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)

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