Study on the adaptive algorithm of the force reflection robotic master under large stiffness of the environment

摘要

The stability and transparency of the robotic master with force reflection will be degraded under large stiffness of the environment.An adaptive algorithm of haptic rendering was proposed to solve this problem by modifying the model of the virtual wall and introducing the concept of force space gradient.The methods of haptic rendering of the impedance display master under large stiffness were automatically selected according to the change rate of the force with respect to the end position of the robotic master.Simulation results showed that the proposed algorithm of haptic rendering can not only eliminate the force oscillation to keep stability,but also can recover the real output stiffness to improve the transparency of robotic master.