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Sensor/actuator asymmetries in telemanipulators.

機譯：遙操縱器中的傳感器/執(zhí)行器不對稱。

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摘要

The use of robotic telemanipulators is increasing in many fields, but force reflection in telemanipulators is challenging and costly to implement; often prohibitively so for commercial applications. By feeding back forces to the operator in only a subset of degrees of freedom of the manipulator, the number of sensors and actuators used in the telemanipulator can be reduced. While this type of partial force feedback reduces the cost and complexity of the telemanipulator hardware, an imbalance, or asymmetry, in the number of sensors and actuators is created. This dissertation presents a method for modeling and classifying the different types of sensor/actuator asymmetries in telemanipulators. Asymmetries can result from the design of either the master or slave manipulator. Both asymmetry classes are accounted for in the model presented, while preserving the nuances of each. The impact of sensor/actuator asymmetries on several common telemanipulator control architectures is described. The model is used to show that conditions commonly used to ensure telemanipulator stability, such as passivity and unconditional stability, are not valid for telemanipulators with sensor/actuator asymmetries. Instabilities are observed in simple linear, time-invariant telemanipulators, even when discretization of the hardware and time-delay in the communication system are ignored. The effect on human performance of coupling in telemanipulators with sensor/actuator asymmetries is shown through two sets of experiments. Results show that performance with partial force feedback can approximate full force feedback performance, but only if the environment couples the dynamics of the degree of freedom missing feedback to the dynamics of a sensed degree of freedom. When forces are decoupled, partial force feedback significantly reduces the ability of users to control applied force in the degree of freedom missing feedback. A third experiment shows that performance during simple tasks like drawing and tracing with a 6-degree-of-freedom manipulator is not significantly affected by the reduction of feedback from 6 degrees of freedom (force and torque) to 3 degrees of freedom (force only). Collectively, this work demonstrates the potential of sensor/actuator asymmetries in telemanipulators based on the ability of humans to "fill-in" missing force information. However, instabilities in these systems exist and are problematic.
機譯：在許多領(lǐng)域，機器人遠(yuǎn)程操縱器的使用都在增加，但是遠(yuǎn)程操縱器中的力反射既具有挑戰(zhàn)性，又實現(xiàn)起來成本高。通常對于商業(yè)應(yīng)用是禁止的。通過僅在操縱器的自由度的子集中將力反饋給操作者，可以減少在遙控操縱器中使用的傳感器和致動器的數(shù)量。盡管這種類型的分力反饋降低了遠(yuǎn)程操縱器硬件的成本和復(fù)雜性，但會造成傳感器和執(zhí)行器數(shù)量的不平衡或不對稱。本文提出了一種對遠(yuǎn)距離操縱器中不同類型的傳感器/執(zhí)行器不對稱進行建模和分類的方法。主操縱器或從操縱器的設(shè)計可能會導(dǎo)致不對稱。所介紹的模型考慮了兩個不對稱類別，同時保留了每個類別的細(xì)微差別。描述了傳感器/執(zhí)行器不對稱對幾種常見的遠(yuǎn)程操縱器控制架構(gòu)的影響。該模型用于表明通常用于確保遙控操縱器穩(wěn)定性的條件（例如被動性和無條件穩(wěn)定性）對于具有傳感器/執(zhí)行器不對稱性的遙控操縱器無效。即使忽略了通信系統(tǒng)中硬件的離散化和時間延遲，在簡單的線性，時不變的遠(yuǎn)程操縱器中也觀察到了不穩(wěn)定性。通過兩組實驗顯示了具有傳感器/執(zhí)行器不對稱性的遙控機械手對人體性能的影響。結(jié)果表明，具有部分力反饋的性能可以近似于全部力反饋性能，但前提是環(huán)境將缺少反饋的自由度的動力學(xué)與感測到的自由度的動力學(xué)耦合在一起。當(dāng)力解耦時，部分力反饋會大大降低用戶以缺少反饋的自由度來控制施加力的能力。第三個實驗表明，在使用6自由度機械手進行繪圖和描圖之類的簡單任務(wù)期間，性能不會受到從6自由度（力和扭矩）到3自由度（僅力）的反饋的顯著影響。 ）?？偟膩碚f，這項工作基于人類“填補”缺失的力信息的能力，證明了遠(yuǎn)程操縱器中傳感器/執(zhí)行器的不對稱性。但是，這些系統(tǒng)中存在不穩(wěn)定性，并且存在問題。

著錄項

  • 作者

    Verner, Lawton N.;

  • 作者單位

    The Johns Hopkins University.;

  • 授予單位 The Johns Hopkins University.;
  • 學(xué)科 Engineering Biomedical.;Engineering Mechanical.
  • 學(xué)位 Ph.D.
  • 年度 2009
  • 頁碼 199 p.
  • 總頁數(shù) 199
  • 原文格式 PDF
  • 正文語種 eng
  • 中圖分類 生物醫(yī)學(xué)工程;機械、儀表工業(yè);
  • 關(guān)鍵詞

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