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Environment model updating algorithm based on rendering force

An environment model and rendering force technology, applied in computing, computer components, mechanical mode conversion, etc., can solve problems such as low update efficiency and unstable control effect of sudden change force, so as to prevent excessive sudden change force, maintain stability, The effect of faster update speed

Inactive Publication Date: 2017-12-15
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

However, these methods still have their own problems, such as low update efficiency, unstable control effect on mutation force, etc.

Method used

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  • Environment model updating algorithm based on rendering force
  • Environment model updating algorithm based on rendering force
  • Environment model updating algorithm based on rendering force

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Embodiment Construction

[0023] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, and are not intended to limit the present invention.

[0024] exist figure 1 lieutenant general f m Set to 0.002N, in the two mutations at t=10s and t=20s, f m They all change continuously and stably, the operator does not have the experience of "sudden disappearance of the contact object" and "being bounced", the position of the main end changes steadily, and there is no oscillation or obvious overshoot value.

[0025] exist figure 2 In this paper, we design a continuous change experiment with both stiffness update and position update and compare it with the progressive update algorithm. The initial value of environmental stiffne...

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Abstract

The invention relates to an environment model updating algorithm in force feedback remote operation, especially an environment model updating algorithm based on a rendering force. The algorithm aims at improving the updating efficiency and accuracy of a model. Compared with the redundant calculation trend in a conventional algorithm, the algorithm achieves the direct control of the output rendering force so as to enable the output force to approach to a calculation value as quickly as possible, and achieve an expected good effect. The algorithm comprises the steps: extracting a part, which does not accord with the normal expectation, in a feedback force of a main end as an abrupt change force, taking the abrupt change force as a limiting condition, and directly controlling the change of the output rendering force. The algorithm can achieve the model updating in a better way under the condition that the system stability is maintained. An experiment indicates that the method, compared with a conventional method, is remarkable in superiority, and reflects better dynamic performance and real-time performance.

Description

technical field [0001] The invention relates to an environment model update method in the force feedback teleoperation technology, which is an environment model update algorithm based on rendering force. Background technique [0002] In the model-based teleoperation system, the slave-end environmental parameters obtained through online identification are continuously fed back to the master-end to modify the master-end forecast environment model. However, since the calculation of the predictive power of the master directly depends on the parameters of the environment model, directly updating the model parameters by "switching" will lead to a "model jump" effect, that is, a sudden change in the predictive power will affect the normal operation of the operator and the slave-side pairing. The execution of master-side instructions may even destroy the security and stability of the system. [0003] For example, due to the hysteresis of the slave end relative to the master end, wh...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G06F3/01
CPCG05B13/024G06F3/016
Inventor 丁宇堃宋荆洲孙汉旭贾庆轩薛载敬
Owner BEIJING UNIV OF POSTS & TELECOMM
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