Relationship between Systematic Parameters and Operator's Kinesthetic Sensitivity in Master-Slave System

摘要

The bilateral control is often implemented in master-slave robot systems for providing a force feedback function. According to the requirements of tasks, the control parameters can be adjusted to optimize the kinesthetic sensitivity of operator when the slave device contacts the environment. A guideline for parameters adjustment based on the operator's kinesthetic sensitivity is necessary. In this paper, first, an index is proposed to represent the operator's kinesthetic sensitivity, which is defined by the contrast of master device's velocity before and after the slave device contacts the environment. Second, applying a simplified position-force bilateral control architecture, the function used to calculate the index value from parameters is derived. Third, the proposed index is validated by experiments. The experimental results show that the change situation of master device velocity can be estimated by the systematic parameters with a high fidelity, and the operator's kinesthetic sensitivity can be represented correctly by the proposed index.